• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.3
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• pp.407-415
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• 2013

PURPOSE: This study is to examine the effects of different types of tasks on gait functions of chronic stroke patients when different types of dual tasks were applied while the patients were implementing practical and continuous circuit tasks using their upper and lower extremities circulating many workbenches. METHODS: Forty-four chronic stroke patients were divided into a dual motor circuit task training group, a dual cognitive circuit task training group and a simple task training group. Before training, all the patients were identically encouraged to receive conservative physical therapy for 30 minutes by a physical therapist were thereafter made to train for 30 minutes, five times a week for a total of eight weeks with individual additional tasks. The dual motor circuit task training consisted of continuous circuit training motor tasks and additional motor tasks and the dual cognitive circuit task training consisted of tasks combining the same circuit training motor tasks and additional cognitive tasks. The simple task training consisted of natural walks on a flat terrain to the front, rear and lateral sides of the terrain. Changes in functional gait abilities made through the training were evaluated using GAITRite. SPSS Win 12.0 was used for the data analysis. RESULTS: As for the gait variables that showed significant differences in comparison between the groups over the training period, the dual motor circuit task training group showed more significant differences than the dual cognitive circuit task training group and the simple task training group at 4 weeks and 8 weeks of training(p<.05). CONCLUSION: Therefore, it could be seen that the practical and continuous dual circuit task training was more effective than simple task training on gait. In comparison between the types of dual tasks, the dual motor circuit task training group showed more effects than the dual cognitive circuit task training group.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.3
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• pp.1153-1160
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• 2012

This study was intended to implement ankle joint dorsi flexion training against ankle muscule strength weakening that erodes stroke patients' gait performance to examine the effect of the training on stroke patients' plantar pressure and gait ability. In this study, 36 stroke patients diagnosed with stroke due to cerebral infarction or cerebral hemorrhage were divided to measure 10MWS which are stroke patients' gait variables maximum plantar pressure by area of the sole by collecting data using an F-scan system during gait. Given these results of the study, compared to other training groups, the ankle muscule strength reinforcing training group showed statistically significant increases of maximum plantar pressure in the great toe, the toe and the first metatasal areas too and thus it can be said that this training increases forward thrust during stroke patients' foot end taking off and positively affects stroke patients' ability to perform gait.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.12
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• pp.280-286
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• 2019

This study verified the difference in biomechanical variation and the pattern of the lower limb between using or not using functional insoles on the gait of elderly people. Ten females subjects were selected (age: 73.2 years, height: 152.1 cm, body mass: 59.4 kg) for testing their gait with using functional insoles and without using functional insoles. The gait motions were captured with the Qualisys system and the gait parameters were calculated with Visual-3D. As a result, the subjects' stride length and swing time were significantly increased (p<.05). Also, the lower limb's extension moment was significantly increased (p<.05) when using the insole. These differences suggest the functional insole used in the experiment increases the subjects' gait stability. However, to generalize the results of this study, it is necessary to accumulate more quantitative data with more subjects. Further studies to examine gait variables and changes of walking patterns need to be conducted by gathering and utilizing the results of those subjects who have used insoles for a long period of time.

• Physical Therapy Rehabilitation Science
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• v.7 no.1
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• pp.23-28
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• 2018

Objective: The purpose of this study was to investigate the impact of wearing various types of shoes on gait ability in stroke survivors and in order to gain information in regards to shoes that could possibly replace ankle orthosis. Design: Cross-sectional study. Methods: Eight hemiplegic survivors diagnosed with stroke participated in the study. Gait was analyzed using the GAITRite Electronic Walkway (CIR System Inc., USA) when subjects walked with no showed, walked with non-ankle-covered shoes, and walked with ankle-covered shoes. This study collected gait variables, including velocity, cadence, step length, stride length, single support time, and double support time, respectively. Results: In the comparison of walking with no shoes, non-ankle-covered shoes, and ankle-covered shoes, there were significant differences in gait velocity, step length, stride length, and the less affected side single support time (p<0.05). However, there were no significant differences in cadence, affected side single support time, and double support time. Conclusions: Ankle-covered shoes had a positive impact on the gait of stroke survivors. However, it is necessary to conduct more studies comparing various types of shoes with ankle orthoses.

• PNF and Movement
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• v.15 no.1
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• pp.57-65
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• 2017

Purpose: The purpose of this study was to examine the effects of resistant gait training with proprioceptive neuromuscular facilitation (PNF) on the walking and balancing abilities of chronic stroke patients. Methods: Twelve chronic stroke patients were randomly assigned to either a control group (n = 6) that underwent treadmill gait training or an experimental group (n = 6) that underwent resistant gait training using PNF. The interventions were performed five times per week for four weeks. Gait variables were measured using a GAITRite system (CIR System Inc, Clifton, NJ, USA) to examine changes in walking ability; the Berg balance scale (BBS) was used to measure changes in balance; and the activity-specific balance confidence scale (ABC) was measured to examine changes in confidence about balance. A Wilcoxon signed-rank test was used to examine intragroup differences before and after the interventions, and a Mann-Whitney U-test was used for intergroup comparisons of the effects of the interventions. All statistical significance levels were set to ${\alpha}=0.05$. Results: Both the experimental group and the control group showed significant intragroup improvement in walking speed, the number of steps per minute, stride length, double support time, balance, and confidence about balance after the interventions (p < 0.05). In intergroup comparisons after the interventions, the experimental group showed significant improvements over the control group in walking speed, the number of steps per minute, stride length, balance, and confidence about balance (p < 0.05). No significant difference in double support time was seen in the intergroup comparison after training (p > 0.05). Conclusion: This study applied resistant gait training using PNF to chronic stroke patients, and the results showed significant improvements in the patients' walking and balancing abilities. Therefore, resistant gait training using PNF is thought to be applicable as an intervention method for chronic stroke patients.

• Annals of Rehabilitation Medicine
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• v.42 no.6
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• pp.872-883
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• 2018

Objective To replace camera-based three-dimensional motion analyzers which are widely used to analyze body movements and gait but are also costly and require a large dedicated space, this study evaluates the validity and reliability of inertial measurement unit (IMU)-based systems by analyzing their spatio-temporal and kinematic measurement parameters. Methods The investigation was conducted in three separate hospitals with three healthy participants. IMUs were attached to the abdomen as well as the thigh, shank, and foot of both legs of each participant. Each participant then completed a 10-m gait course 10 times. During each gait cycle, the hips, knees, and ankle joints were observed from the sagittal, frontal, and transverse planes. The experiments were conducted with both a camera-based system and an IMU-based system. The measured gait analysis data were evaluated for validity and reliability using root mean square error (RMSE) and intraclass correlation coefficient (ICC) analyses. Results The differences between the RMSE values of the two systems determined through kinematic parameters ranged from a minimum of 1.83 to a maximum of 3.98 with a tolerance close to 1%. The results of this study also confirmed the reliability of the IMU-based system, and all of the variables showed a statistically high ICC. Conclusion These results confirmed that IMU-based systems can reliably replace camera-based systems for clinical body motion and gait analyses.

• Korean Journal of Applied Biomechanics
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• v.27 no.3
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• pp.229-238
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• 2017

Objective: The purpose of this study was to identify the effects of taping therapy and inner arch support on pes planus lower extremity alignment and gait. Method: The study was conducted on 13 women in their 20s who had pes planus and no gait problems. Independent variables were the condition of wearing basic socks (S1) and the condition of wearing socks with taping therapy and inner arch support (S2). The dependent variables were resting calcaneal stance position (RCSP), plantar pressure distribution during gait, and underlying and medial longitudinal arch angle measured using radiography. Statistical analysis was performed using the Wilcoxon test with SPSS 23.0 for comparison of S1 and S2. Results: In the RCSP measurement, the angle range of S2 changed to normal. Meary's angle appeared to be less than the angle of S1, indicating alleviation of the degree of pes planus. The calcaneal pitch angle increased at S2 from that at S1. The plantar pressure distribution was divided into four areas (toe, forefoot, midfoot, and hindfoot). At S2, the maximum pressure increased in the toe and midfoot. The maximum force increased significantly in the toe and midfoot but decreased significantly in the forefoot and hindfoot. In addition, the contact area increased overall especially at the midfoot and hindfoot. Contact time decreased in the toe and forefoot, but increased in the midfoot and hindfoot. Conclusion: Taping therapy and inner arch support showed structural improvement of the pes planus. In addition, the force and pressure applied to the foot during walking are distributed evenly in the area of the sole, thus positively affecting walking.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.163-180
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• 2003

This paper aims at collecting the guantitative data of kenematic variables by analysing the gait patterns of the normal adult men and the handicapped. The gait motions were taped with 4 video cameras, the cinematographic analyses were performed by the DLT technique of three dimensional image treatment. The following results were obtained in the analysis of the variables: 1. The ratio of stance time and swing time did not show any significant difference in the groups of the normal men and the handicapped when both foot of the former and the right feet of the latter were compared. The stride peeriod time of these two groups were 1.12 and 1.11 second, respectively. 2. In the handicapped group, the step width was wider, the step length and stride length were shorter, and especially, the step length of the right foot was shorter, 3. The small vertical displacement of left toes of the handicapped group showed that the heal contact and the left midstance are almost simultaneous. 4. The two groups have almost the same horizontal displacement of the center of gravity and the same vertical rate of extension. In view of the velocity of the center of gravity the normal adults showed the constant speed of movement. However, the handicapped adults were reduced from the right midstance to the right toe-off. 5. The handicapped showed prominently low angle on the left toe-off in the ankle joint angle, they also had the tendency to walk in the patterns of extended knee in the knee joint angle. Both the handicapped and the normal had the hyperextension on the toe-off in the hip joint angle. In the back and front angle of body, both showed the slightly back-sided walking positions. 6. Both groups had the abduction of both feet in foot placement angle, but the handicapped did not show serious abduction of left midstance.

• Journal of The Korean Society of Integrative Medicine
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• v.4 no.4
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• pp.21-32
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• 2016

Purpose: The purpose of this study was to identify whether task-related circuit exercise program combined with sensorimotor training for 4 weeks could improve the balance and gait in stroke patients. Method: Fifteen stroke patients who had agreed with the study were randomly divided into 3 groups categorized as task-related circuit exercise program combined with sensorimotor training group (experimental group 1, n=5), task-related circuit exercise program group (experimental group 2, n=5), and control subjects performed conventional physical therapy (control group, n=5). The balance and gait were assessed by BT-4 force platform system, Berg Balance Scale, 10meter Walk Test and Smart Step at before training and after training. Wilcoxon signed rank test was used to analyze change before and after intervention in intra-group. Kruskal Wallis H test, Mann-Whitney U test and Bonfferoni correction were used to analyze changes of all variables in inter-groups. Result: The experimental group 1 showed significant improvements in postural sway area, BBS scores, walking velocity and plantar pressures of affected foot, whereas the experimental group 2 showed significant improvements in BBS scores, and the control group were no significantly different in all variables following training. The changes of postural sway area and BBS scores in the experimental group 1 were significantly greater than them of the control group. The changes of postural sway area in the experimental group 1 was significantly greater than that of the experimental group 2. Conclusion: The result of this study suggest the task-related circuit exercise program combined with sensorimotor training is an effective intervention to improve balance and gait in stoke patients.