• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.148-155
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.877-880
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• 2005

This paper suggests gait analysis and gait simulation method using Gait Motion Capture equipment and plantar pressure measurement system. The gait of normal person and how it will be effected by added weight with wearing military equipments are studied by suggested method. It is measured that a change of gait pattern when wears military equipments with Korean male adult(height 180 cm, weight 70 kg) and simulated its results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1166-1171
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• 2004

In this study, the concept of autonomous mobility is applied to a gait support mobile robot. The aim of the development of the service robot is to assist the elderly with gait rehabilitation. This study proposes an ergonomic service robot design parameter. The gait assistant path pattern is derived from analysis of the elderly gait. A lever is installed in the AMR in order to measure both the pulling force and the leading force of the elderly. The path generation of the mobile robot is developed through consideration and analysis of elderly gait patterns. The ergonomic design parameters (dimensions, action scope and working space) are determined based on moving scope of the elderly. The gait assistant mobile robot was offered the elderly guide service and internet service based on the ergonomic design parameters.

• 대한중풍순환신경학회지
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• 제14권1호
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• pp.23-30
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• 2013

■ Objectives This study is to examine change of gait parameters on shoes sole height(high heels, MBT shoes, house shoes) through gait analyzer. ■ Methods The subjects of this study were 12 women in their twenties. Gait analysis system is 5m in total length and gait is led to be comfortable. They put three kinds of shoes each and were led to walk 5m on gait analysis system. ■ Results There were significant differences in step length, single support and load response of gait parameters and in stride length and total double support at double support phase. ■ Conclusion Muscle activity differs in that different that shoes sole height and form because tibialis anterior muscle has strengthen and gastrocnemius has stretched. Therefore we think that patients with knee joint problem consider gait parameters when shoes select.

• 재활복지공학회논문지
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• 제7권2호
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• pp.139-144
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• 2013

다양한 신경계 및 근골격계 질환이 있을 때 나타나는 증상으로 보행변화가 일어나며, 이에 대한 보행분석은 병의 진행 정도를 판단하는 데 매우 중요하다. 대부분의 보행분석 방법으로는 고가의 장비 사용과 공간의 제약을 받고 있다. 본 연구는 스마트 폰을 이용한 촬영 영상과 보행궤적 분석 프로그램을 사용하여, 보행 시 슬관절 각도의 변화와 활보장 측정을 바탕으로 보행분석을 진행하였다. 보행분석에 필요한 실험은 건강한 성인남성 7명을 대상으로 진행하였으며, 오른쪽 및 왼쪽 무릎관절 각도 및 활보장에 대한 데이터를 이용하여 보행분석이 이루어졌다. 본 연구에서 얻어진 보행분석은 기존의 보행분석 연구들과 비교하여 유사한 결과를 획득하였다. 여기서 제안한 방법을 이용한다면 고가의 장비와 공간의 제약없이 보행 분석을 할 수 있을 것이다.

• 동의신경정신과학회지
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• 제31권4호
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• pp.225-233
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• 2020

Objectives: This study aimed to reveal the gait characteristics of each Sasang constitution by examining the differences in gait analysis indicators using a 3-axis accelerometer. Methods: Ninety-one participants were classified through the TS-QSCD (Two-Step Questionnaire for Sasang Constitution Diagnosis) method and gait analysis was performed using a 3-Axis Accelerometer (G-WALK. BTS Bioengineering, Italy). Gait analysis in returning to the 6-meter turnaround point and 6-minute walking test were performed. The differences in the gait analysis index values were analyzed between each constitution. Results: The gait analysis of 91 subjects (37 Taeumin, 37 Soyangin, and 17 Soeumin), showed that the percent stride length/height in the Soyangin subjects was significantly higher than that of the Taeeumin and Soeuminin subjects in the spatiotemporal walking variables (p<0.05). Stride length also showed the widest tendency in the Soyangin subjects (p=0.05). In the kinesiological analysis, the range of pelvic obliquity angles in the Soeumin subjects was significantly wider than that of the Taeumin and Soyangin subjects (p<0.05). In the six-minute walking test, the Soyangin subjects walked the farthest at 309.41±35.23 m (p=0.064). Conclusions: In a comparison of the gait characteristics for each Sasang constitution using a three-dimensional accelerometer, the stride width of the Soyangin subjects was the widest compared to the Taeeumin, and Soeumin subjects, and Soyangin's walking speed showed a faster tendency than that of the Taeeumin and Soeumin subjects.

• 대한물리치료과학회지
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• 제29권1호
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• pp.30-40
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• 2022

Background: This study analyzed the reliability of smart guides for gait analysis in patients with stroke. Design: Cross-sectional study. Methods: The participants of the study were 30 patients with stroke who could walk more than 10 m and had an MMSE-K test score of ≥24. Prior to the experiment, the subjects or their guardians entered their demographic characteristics including gender, age, height, weight into the prepared computer. The experiment was conducted in a quiet, comfortable, and independent location, and the patient was reminded of the equipment description, precautions, and safety rules for walking. A smart insole was inserted into the shoes of the patients and the shoes were put on before the patients walked three times on the 5-m gait analysis system mat installed in the laboratory. Results: The reliability of the equipment was compared with that of the gait analysis system, and the results of this study are as follows: among the gait analysis items, velocity had an ICC=0.982, the cadence had an ICC=0.905, the swing phase on the side of the gait cycle had an ICC=0.893, the swing phase on the side of the gait had an ICC=0.839, that on the non-affected side had an ICC=0.939, single support on the affected side had an ICC=0.812, and support on the non-affected side had an ICC=0.767. Conclusion: The results of this study indicate no statistical difference between the smart insole and the gait analysis system. Therefore, it is believed that real-time gait analysis through smart insole measurement could help patients in rehabilitation.

• The Journal of Korean Physical Therapy
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• 제30권2호
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• pp.73-77
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• 2018

Purpose: The prefrontal lobe, supplementary motor area, cerebellum, and basal ganglia are activated during gait. In addition, gait is controlled by nerves, such as the corticospinal tract (CST) and corticoreticular pathway (CRP). In this study, the presence of an injury to the CST and CRP was identified by diffusion tensor imaging and the characteristics of the gait pattern were investigated according to inferior cerebral artery infarction. Methods: One patient and six control subjects of a similar age participated. A 69-year-old female patient had an injury to the left basal ganglia, insular gyrus, corona radiata, dorsolateral prefrontal cortex, and postcentral gyrus due to an inferior cerebral artery infarction. Diffusion tensor imaging (DTI) data was acquired 4 weeks after the stroke. The kinematic and spatio-temporal parameters of gait were collected using a three-dimensional gait analysis system. Results: On 4 weeks DTI, the CST and CRP in the affected hemisphere did not show injury to the affected and unaffected hemisphere. Gait analysis showed that the cadence of spatio-temporal parameter was decreased significantly in the patient. The angle of the knee joint was decreased significantly in the affected and unaffected sides compared to the control group. Conclusion: The results of diffusion tensor imaging showed that although the patient was evaluated to be capable of an independent gait, the quality and quantity of gait might be reduced. This study could help better understand the gait ability analysis of stroke patients and the abnormal gait pattern of patients with a brain injury.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.132-135
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• 2002

In the present study, an electro-mechanical KAFO (knee-ankle-foot orthosis) which satisfies both the stability in stance and the knee flexion in swing was developed and evacuated in eight polio patients. A knee joint control algorithm suitable for polio patients who are lack of the stability in pre-swing was also developed and various control systems and circuits were also designed. In addition, knee flexion angles and knee moments were measured and analyzed for polio patients who used the developed KAFO with the three-dimensional motion analysis system. Energy consumption was also evaluated for the developed KAFO by measuring the movement of the COG (center of gravity) during gait. From the present study, the designed foot switch system successfully determined the gait cycle of polio patients and controlled knee joint of the KAFO, resulting in the passive knee flexion or foot clearance during swing phase. From the three-dimensional gait analysis for polio patients, it was found that the controlled-knee gait with the developed electro-mechanical KAFO showed the knee flexion of 40$^{\circ}$∼45$^{\circ}$ at an appropriate time during swing. Vertical movements of COG in controlled-knee gait (gait with the developed electro-mechanical KAFO) were significantly smaller than those in looked knee gait(gait with the locked knee Joint). and correspondingly controlled-knee gait reduced approximately 40% less energy consumption during horizontal walking gait. More efficient gait patterns could be obtained when various rehabilitation training and therapeutic programs as well as the developed electro-mechanical KAFO were applied for polio patients.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1361-1362
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• 2010