• Journal of International Academy of Physical Therapy Research
• /
• v.5 no.2
• /
• pp.738-742
• /
• 2014

This study was conducted to investigate the effect of FES and ankle mobilization on the ankle motion and the quality of gait of chronic hemiplegic patients with limited ankle joint motions. As research subjects, 24 chronic hemiplegic patients who could walk independently, regardless of assistive aids, were selected. Then, 8 subjects received mobilization randomly and 8 subjects received FES and 8 subjects received mobilization and FES, at the same time. The dorsiflexion PROM significantly increased in the group of mobilization therapy, mobilization and FES all together(p<.01). There were statistically significant differences among the three groups(p<.01). The 10m walking test significantly decreased in the group of mobilization therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.01). The gait velocity significantly increased in the group of mobilization therapy, FES therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.01). The stride length significantly increased in the group of mobilization therapy, mobilization and FES all together(p<.05). There were statistically significant differences among the three groups(p<.05). In conclusion, these findings demonstrate that rather than only using one treatment technique, applying mobilization and FES together brings a more satisfactory result to hemiplegic patients with limited ankle joint motions.

• Korean Journal of Applied Biomechanics
• /
• v.20 no.2
• /
• pp.191-196
• /
• 2010

The purpose of this study was to investigate the effect of gait speed and walkway slope on the body acceleration, for the future validation of using an accelerometer in the estimation of energy consumption. Ten young healthy subjects with accelerometers on the upper thigh and ankle walked on a treadmill at 9 conditions(three speeds ${\times}$ three slopes) for 5 minutes. Acceleration signals of four directions, i.e. anterior-posterior(AP), medio-lateral(ML), superior-inferior(SI) and vector sum(VS) directions, of each sensor were measured, and root means squared(RMS) values of them were used as analysis variables. As statistical analysis, repeated measure two-way ANOVA was performed for RMS accelerations at each attachment sites, with slope and velocity as independent factors. At both the upper thigh and ankle, RMS acceleration of all directions were affected by gait velocities(p<.001) showing greater accelerations for higher velocities. Contrary to expectations, no slope effect existed in RMS accelerations at hip. Moreover, RMS acceleraion at ankle decreased with slope in SI and VS directions(p<.01). These results suggests that RMS acceleration cannot reflect the change in physical activity due to the change in walkway slope.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.1
• /
• pp.199-205
• /
• 2013

The purpose of this study was to analyze the changes in gait according to four style of bag's carryied method and three different bag's weights. Twenty healthy adults participated in four conditions. The first condition, they wearing a bag on one side shoulder and walked. The second condition, they carried a bag sling across on shoulder and walked. The third condition, they carried a bag on a back using both shoulders and walked. The fourth condition, they hold a bag in their right hand and walked. During all four conditions participants wore a SmartStep insole in their right shoe and had a pressure control device strapped to their right ankle. Each participant walked 10 meters carrying a 2.5 kg, 5 kg and 7.5 kg bag under all four conditions. There were significantly differents in stance phase rate; swing phase rate and walking speed according to bag weight of 2.5 kg, 5 kg, 7.5 kg.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.11 no.2
• /
• pp.115-124
• /
• 2017

This study was to develop the balance insole system for detecting and improving the muscle imbalance of left and right side in lower limbs. We were to verify the validation of balance insole system by analyzing the strategy of muscular activities and foot pressure according to sound feedback. We developed the balance insole based FSR sensor modules for estimating the muscle imbalance using detecting foot pressure. The insole system was FPCB have 8-spot FSR sensor with sensitivity range of 64-level. The participants were twenty peoples who have muscle strength differences in left and right legs over 20%. We measured the muscular activity and foot pressure of left and right side of lower limbs in various gait environment for verifying the improvement effect of muscle imbalance according to sound feedback. They performed gait in slope at 0, 5, 10, 15% and velocity at 3, 4, 5km/h. The result showed that the level of muscle imbalance reduced within 30% for sound feedback of balance insole system contrast to high level of muscle imbalance at 169.9~246.8% during normal gait for increasing slope and velocity. This study found the validation of balance insole system with sound feedback stimulus. Also, we thought that it is necessary to research on the sensitivity of foot area, detection of muscle imbalance and processing algorithm of correction threshold spot.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.9
• /
• pp.799-807
• /
• 2017

In this paper, a new method is proposed for estimating pedestrians' walking velocity based on lower-limb kinematics and wearable inertial measurement unit (IMU) sensors. While the soles and ground are not in contact during the walking cycle, the walking velocity can be estimated by integrating the acceleration output of the inertial sensor mounted on the pelvis. To minimize the effects of acceleration measurement errors caused by the tilt of the pelvis while walking, the estimated walking velocity based on lower-limb kinematics is imposed as the initial value in the acceleration signal integration process of the pelvis inertial sensor. In the experiment involving outdoor walking for six minutes, sensor drift due to error accumulation was not observed, and the RMS error in the walking velocity estimation was less than 0.08 m/s.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.12
• /
• pp.418-424
• /
• 2019

The present study investigated the effects of the moment arm length on balance and walking when carrying a backpack. In total, 30 normal adults without orthopedic and neurological injuries were assessed. For each subject, balance and gait were measured under three conditions: 1) the no backpack condition, 2) the general backpack condition, and 3) the decreased length of moment arm backpack condition. There were significant differences in the center of the pressure area and velocity between the three conditions, whereas there was no significant difference in the center of the pressure area and velocity according to the moment arm length. There were significant differences in double limb support time and walking velocity under the three conditions, and there was a significant difference only in double limb support time according to the moment arm length. The results of the present study showed that a change in the length of the moment arm can be helpful for walking when carrying a backpack.

• Korean Journal of Applied Biomechanics
• /
• v.29 no.1
• /
• pp.15-21
• /
• 2019

Objective: The purpose of this study was to investigate the effects of aqua-noodles on the practice of underwater walking in patients with hemiplegia. Method: After an oral explanation and signing an IRB approved consent form 10 participants ($66.8{\pm}10.75yr$, $165.3{\pm}8.79cm$, $73.6{\pm}46kg$) agreed to participate in this study. Each of the participants was required to walk with the aqua noodles and without the aqua-noodles in a swimming pool. Each participant was asked to walk a distance of 5 m a total of 10 times, 5 with and 5 without the aqua-noodles. The depth of the swimming pool was at 1.3 m, approximately chest height. The following variables were calculated for analysis; height of the knee (m), knee joint ROM ($^{\circ}$), ankle joint ROM ($^{\circ}$), knee joint maximum angular velocity ($^{\circ}/sec$), and ankle joint maximum angular velocity ($^{\circ}/sec$). Results: First, there was a significant increase in time (s) for the maximum knee height to reach as well as the maximum knee height (m) increased when the participant used the aqua-noodles. Second, there was a statistically significant decrease in stride length when the aqua-noodles were used. Conclusion: This study helps to verify that the effect of underwater walking exercise can provide a suitable walking exercise environment. The results of this study provide systematic scientific information about how walking in water can be used for the rehabilitation of patients and the elderly.

• Physical Therapy Korea
• /
• v.11 no.4
• /
• pp.51-60
• /
• 2004

Falls are common, costly, and a leading cause of death among older adults. The major predisposing factors of a fall may include age-related deterioration in the dynamic system composed of auditory, somatosensory, vestibular, visual, musculoskeletal, and neuromuscular subsystems. Older adults with a history of frequent falls demonstrated significant reductions in gait velocity, muscle force production, and balance performance. These altered neuromechanical characteristics may be further exaggerated when faced with conflicting multisensory conditions. Despite the important contribution of multisensory function on the sensorimotor system during postural and locomotor tasks, it remains unclear whether multisensory intervention will produce dynamic balance improvement during locomotion in older adults with a history of frequent falls. Therefore, the purpose of this paper is to address important factors associated with falls in elderly adults and provide theoretical rationale for a multisensory intervention program model.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.523-528
• /
• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Proceedings of the KIEE Conference
• /
• 1999.07g
• /
• pp.3089-3091
• /
• 1999

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.