• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Journal of Biomedical Engineering Research
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• v.10 no.3
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• pp.269-278
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• 1989

The initial impact at foot strike is produced by a slider type mechanical model, which can be measured using a force platform to evaluate various shoes. The lower extremity and foot motion was filmed by a 16mm high speed movie camera and several points on the rear half of the shoe and those near the trochanter and the lateral epicondyle were digitized to provide the linear and angular positions and velocities during impact. With these observed kinematics, a slider type foot strike simulator composed of guide rail and sliding dummy is designed. The simulator system makes the artificial foot of the dummy with running shoe on it to follow the foot strike motion. The dummy has the relevant mass-spring-damper system modeled after McMahon's. The motion of the model is drived by the gravity force and the generated motion alone with the ground reaction forces are monitored by the same procedures afore mentioned producing the initial foot strike impact similar to the onto observed in human gait.

• Physical Therapy Korea
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• v.10 no.4
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• pp.77-83
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• 2003

본 연구는 발가락 벌림 보조기(toe spreader)가 긴장성 발가락 굽힘 반사(Tonic Toe Flexion Reflex: TTFR)가 있는 양하지 뇌성마비 아동의 보행에 미치는 영향을 알아보고자 하였다. 12명의 TTFR이 있는 양하지 뇌성마비 아동을 대상으로 같은 날에 맨발과 발가락 벌림 보조기를 착용한 상태에서 보행분석을 실시하였다. 시간 거리 보행변수로 활보장(step length), 보장(step length), 보폭(step width), 발가락 외전각도(toe out angle), 활보시간(stride), 입각기(stance phase), 유각기(swing phase), 분속수(cadence), 보행속도(speed)를 측정하였다. 발가락 벌림 보조기 착용 시 시간 거리 보행변수는 통계적으로는 유의한 차이가 없었다(p>.05). 양하지 뇌성마비 아동에서 TTFR을 억제하기 위한 발가락 벌림 보조기의 즉시적인 효과는 유의하지 않다고 볼 수 있으며, 추후연구로 장기간 일상생활에서의 지속적인 착용을 통한 연구가 필요하다고 본다.

• International journal of advanced smart convergence
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• v.9 no.1
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• pp.202-208
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• 2020

Body balance necessary for ordinary daily activities can be undermined by diverse causes. In this study, as a way to control such a problem, we have produced smart insole as a wearable device in the form of insole and developed analysis software evaluating body balance, which measures ground reaction force applied to each area of sole and Center of Pressure (COP). The software visualized changes in COP positions while a user was moving and average COP positions, and it is also capable of measuring the COP values in the Anterior-Posterior (AP) and Medial-Lateral (ML) areas of feet. Through gait analysis, it can analyze the time of walking, strides, speed, COP trajectory while walking, etc. In addition, we have developed training contents for body balance improvement designed in consideration of Y-Balance Test and Timed Up and Go (TUG) Test. They were established in virtual reality similar to daily living environment so that people can expect more effective training results regardless of places.

• Journal of Biomedical Engineering Research
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• v.30 no.3
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• pp.226-232
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• 2009

In this study, treadmill walking and overground walking were compared at the same condition based on kinematics and energy expenditures(EE). In addition, we compared the actual energy expenditure and calculated EE by treadmill. The kinematics of treadmill and overground walking were very similar. The values at each joint were significantly different(P<0.05), but magnitude of the difference was generally less than 4$^{\circ}$. In the EE using cardiopulmonary exercise, EE of treadmill walking was significantly greater when measured on the overground. It seemed to be the increased stress during the gait by the continuous movement of the belt. As the velocity increased, there was significant difference between actual EE and calculated EE by treadmill due to EE curve increasing exponentially. Therefore the further study would be required to find the correlation of the two methods and calibrate the values from them.

• Korean Journal of Applied Biomechanics
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• v.13 no.1
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• pp.109-119
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• 2003

The purpose of this study was to investigate differences of the mechanical efficiency on the characteristics of the basketball wheelchairs(cambers & size of the handrims). Nine healthy and normal wheelchair basketball players who had no impairments to their upper extremities were volunteered to participate in this study. $VO_2$ was collected using automatic gas analyzer(vmax29). Gross efficiency, net efficiency and work efficiency were analyzed from the calculated external power output and energy expenditure. The results were followed. First, gross efficiency in the basketball wheelchairs was observed across the range from 4 to 10%. Gross efficiency in this study showed less values than that from the literature reviewed in the arm cranking(15%), racing wheelchair(above 30%), gait(27%) and cycling(18-23%). Second, the small size of handrim(61cm) at the 16 degrees of camber produced higher efficiency values than the large size of handrim(66cm) whereas the different sizes of handrim at the 20 degrees of camber did not show any pattern. Third, both faster speed($1.11^m/s{\rightarrow}1.39^m/s$) and increases in treadmill inclination produced increases in energy expenditure. The results of this study may provide not only better understanding of the mechanical efficiency with adequate camber degree and proper size of handrim but also fundamental information for manufacturing the wheelchair.

• Journal of The Korean Society of Integrative Medicine
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• v.2 no.1
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• pp.23-34
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• 2014

연구목적 : 본 연구의 목적은 8주간의 점진적인 속도증진 훈련이 뇌졸중환자의 족저압, 보행주기, 보행대칭성에 어떠한 영향을 주는지 알아보는 것이다. 연구방법 : 연구에 참여한 대상자들은 뇌졸중으로 진단 받고 N병원에 입원한 편마비환자 20명(실험군 10명, 대조군 10명)을 대상으로 하였다. 이들은 모두 물리치료와 작업치료를 받았고, 실험군은 주3회, 8주간의 트레드밀 보행훈련를 받았고, 대조군은 받지 않았다. 실험전, 후에 F-scan을 이용하여 보행주기, 보행대칭성을 검사하였다. 연구결과 : 8주 후, 보행주기는 실험군의 양하지지지기 I II, 단하지지지기에서 모두 유의하게 증가하였으나, 대조군에서는 양하지지지기 II, 단하지지지기에서 유의하게 증가하였다. 유각기는 실험군과 대조군 모두 유의하지는 않았다. 보행대칭성은 입각기 대칭성에서 대조군과 비교하여 실험군에서 유의하게 증가하였으나, 유각기 대칭성은 실험군과 대조군 모두 유의하지 않았다. 결론 : 뇌졸중 환자에 있어 보행훈련은 보행주기과 보행대칭성과 를 개선시키며, 특히 점진적인 속도 증진훈련은 양하지지지기, 단하지지지기, 입각기 보행대칭성에 효과적인 방법으로 사용될 수 있을 것으로 보인다.

• Journal of International Academy of Physical Therapy Research
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• v.9 no.4
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• pp.1571-1575
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• 2018

The purpose of this study was to investigate the effect of somatotype on the $VO_2max$ and hormone (adrenaline and noradrenaline) during treadmill walking. Forty healthy men participated and were randomized to four groups: Male 1 (M1) group, Male 2 (M2) group, Male 3 (M3) group, and Male 4 (M4) group. M4 group is the largest body type, and M1 group is the smaller the body type. Participants walked at a speed of 3.5 km/h for five minutes at an incline angle of $0^{\circ}$, $5^{\circ}$, and $10^{\circ}$ in the treadmill. Maximum oxygen consumption and hormone (adrenaline and noradrenaline) were measured. In the results, $VO_2max$ has significantly increased according to the degree of the treadmill inclination, and M4 group (larger body type) consumed more oxygen than the M1 group (smaller body type). In the hormone, there was a significant increase in adrenaline concentration after walking in all groups, and there was a significant difference in M1-M4, M2-M4 and M3-M4. The noradrenaline concentration significantly increased after treadmill gait in all groups, and there was no significant difference in noradrenaline between groups. This study suggests that the larger body type consumes more oxygen during walking, and treadmill walking contributes to an increase in the concentration of adrenaline and noradrenaline.

• Korean Journal of Applied Biomechanics
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• v.30 no.4
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• pp.301-309
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• 2020

Objective: This study aimed to investigate the effect of white noise on dynamic balance in patients with stroke during walking. Method: Nineteen patients with chronic stroke (age: 61.2±9.8 years, height: 164.4±7.4 cm, weight: 61.1±9.4 kg, paretic side (R/L): 11/8, duration: 11.6±4.9 years) were included as study participants. Auditory stimulus used white noise, and all participants listened for 40 minutes mixing six types of natural sounds with random sounds. The dynamic balancing ability was evaluated while all participants walked before and after listening to white noise. The variables were the center of pressure (CoP), the center of mass (CoM), CoP-CoM inclined angle. Results: There is a significant increase in the antero-posterior (A-P) CoP range, A-P inclination angle, and gait speed on the paretic and non-paretic sides following white noise intervention (p<.05). Conclusion: Our findings confirmed the positive effect of using white noise as auditory stimulus through a more objective and quantitative assessment using CoP-CoM inclination angle as an evaluation indicator for assessing dynamic balance in patients with chronic stroke. The A-P and M-L inclination angle can be employed as a useful indicator for evaluating other exercise programs and intervention methods for functional enhancement of patients with chronic stroke in terms of their effects on dynamic balance and effectiveness.

• Physical Therapy Korea
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• v.30 no.1
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• pp.78-85
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• 2023

Background: Despite fall prevention strategies suggested by researchers, falls are still a major health concern in older adults. Understanding factors that differentiate successful versus unsuccessful balance recovery may help improve the prevention strategies. Objects: The purpose of this review was to identify biomechanical factors that differentiate successful versus unsuccessful balance recovery in the event of a fall. Methods: The literature was searched through Google Scholar and PubMed. The following keywords were used: 'falls,' 'protective response,' 'protective strategy,' 'automated postural response,' 'slips,' 'trips,' 'stepping strategy,' 'muscle activity,' 'balance recovery,' 'successful balance recovery,' and 'failed balance recovery.' Results: A total of 64 articles were found and reviewed. Most of studies included in this review suggested that kinematics during a fall was important to recover balance successfully. To be successful, appropriate movements were required, which governed by several things depending on the direction and characteristics of the fall. Studies also suggested that lower limb muscle activity and joint moments were important for successful balance recovery. Other factors associated with successful balance recovery included fall direction, age, appropriate protective strategy, overall health, comorbidity, gait speed, sex and anticipation of the fall. Conclusion: This review discusses biomechanical factors related to successful versus unsuccessful balance recovery to help understand falls. Our review should help guide future research, or improve prevention strategies in the area of fall and injuries in older adults.