• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.397-397
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• 2000

This paper presents a gait control scheme for teleoperation of a quadruped-walking robot. In teleoperation of a walking robot, an operator gives a real-time generated velocity command to a walking robot instead of a moving trajectory. When the direction of the velocity command is changed, the periodic gait is not available because this requires an initial foot position . This paper proposes the aperiodic gait control scheme that can converge to a periodic gait Simulation results are given to demonstrate the efficiency of the proposed control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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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.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.3
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• pp.37-44
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• 2005

Gait control capacity for most trans-femoral prostheses is significantly different from that of a normal person, and training is required for a long period of time in order for a patient to walk properly. People become easily tired when wearing a prosthesis or orthosis for a long period typically because the gait angle cannot be smoothly adjusted during wearing. Therefore, to improve the gait control problems of a trans-femoral prosthesis, the proper gait angle is estimated through surface EMG(electromyogram) signals on a normal leg, then the gait posture which the trans-femoral prosthesis should take is calculated in the neural network, which learns the gait kinetics on the basis of the normal leg's gait angle. Based on this predicted angle, a postural control method is proposed and tested adaptively following the patient's gait habit based on the predicted angle. In this study, the gait angle prediction showed accuracy of over $97\%$, and the posture control capacity of over $90\%$.

• Journal of The Korean Society of Integrative Medicine
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• v.11 no.3
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• pp.147-157
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• 2023

Purpose : Stroke patients exhibit considerable variations in gait patterns. Stroke patients generally show abnormal muscle tone and gait. This study was performed to evaluate the effects of treadmill gait training combined with muscle tone control technique (TM) on gait ability in patient with chronic stroke. Methods : A single-blind, randomized controlled trial was conducted with 36 patient with chronic stroke. They were randomly allocated 2 groups; treadmill gait training combined with muscle tone control technique group (TM group; n=18) and conservative treatment group (CG group; n=18). The TM group received 15 minutes muscle tone control technique and 15 minute treadmill gait training. In the conservative treatment group received 30 minutes conservative physical therapy. Each group performed 30 minutes a day 3 times a week for 8 weeks. The primary outcome gait ability were measured by gait measurement system (Optogait, Microgate, Italy) and 10 m walking test (10MWT). An independent t-test was used to statistically analyze the pre-test and pos-ttest gait ability results. Results : Both groups demonstrated significant improvement of outcome in gait ability during intervention period. TM group showed significant differences in gait ability as compared to the CG groups (p<.05). TM group showed significant differences in 10MWT as compared to the CG groups (p<.05). Our results showed that TM was more effective on gait ability in patients with chronic stroke. Conclusion : Our findings of this study confirmed that the treadmill gait training combined with muscle tone control technique provided significant improvements on gait ability in patient with chronic stroke. Therefore treadmill gait training combined with muscle tone control technique may positive influenced gait ability. This study will be able to be used as an intervention data for recovering gait ability in patients with chronic stroke.

• Journal of Korean Physical Therapy Science
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• v.27 no.2
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• pp.1-12
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• 2020

Background: The purpose of this study is intended to evaluate the effectiveness and analyse the change on balance, gait and ADL of the stroke patient by obstacle gait training. Design: Randomized controlled trial. Methods: Ten subjects with stroke patient are recruited from C rehablitation hospital located Chungbuck. The subjects which are divided to 2 group as experimental group (N=5) conducted the obstacle gait training and control group (N=5) conducted the general gait training. The gait (10mWT), balance (BBS) and ADL (FIM) were measured before and after intervention. Results: There were no significant differences (p>.05) in sex, age, height, weight and K-MMSE among subjects. There were significant differences (p<.05) in balance and gait between of the experimental group and control group. But there was no significant difference (p>.05) in the ADL between of the experimental group and control group. There were significant differences (p<.05) gait and balance in the experimental group. But there were no significant difference (p>.05) gait, balance and ADL in the control group. Conclusion: Obstacle gait training showed positive effects on the gait, balance of the stroke patient.

• The Journal of Korean Physical Therapy
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• v.33 no.2
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• pp.62-68
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• 2021

Purpose: This study examined whether mirror therapy could improve the balance, gait, and motor function of patients with subacute stroke. Methods: Thirty-three patients with subacute stroke were divided randomly into three groups: experimental group1, experimental group2, and the control group. The patients in experimental group1 performed a mirror therapy program on the unaffected side of the lower extremities, and the patients in experimental group2 performed mirror therapy on the affected side of the lower extremities. Both groups performed the exercise for 30 minutes per session, five times a week for four weeks. The control group did not receive mirror therapy. BBS, POMA, 10MWT, and the BRS were used to evaluate the balance, the quality of gait, gait speed, and the motor function before and after the intervention. Results: The gait speed increased significantly in the experimental groups1 and 2 after the intervention. The control group showed no significant difference in the gait speed after the intervention. The change in gait speed before and after the intervention showed a significant difference among the groups. Experimental group1 showed a significant increase in the gait speed compared to that of the control group. Conclusion: This study suggests that mirror therapy could be an effective intervention to improve the gait speed of patients with subacute stroke. On the other hand, there was no difference in the effectiveness of mirror therapy and therapeutic exercise on the balance, gait, and motor function.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.644-649
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• 2012

This paper proposes the gait phase classifier using backpropagation neural networks method which uses the angle of lower body's joints and ground reaction force as input signals. The classification of a gait phase is useful to understand the gait characteristics of pathologic gait and to control the gait rehabilitation systems. The classifier categorizes a gait cycle as 7 phases which are commonly used to classify the sub-phases of the gait in the literature. We verify the efficiency of the proposed method through experiments.

• The Journal of Korean Physical Therapy
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• v.28 no.2
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• pp.71-76
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• 2016

Purpose: This study was conducted to assess the effects of robot-assisted gait training with visual feedback on gait, balance, and balance confidence in patients with chronic stroke. Methods: Thirty subjects with chronic stroke were randomly assigned to two groups: the experimental group (n=15) and the control group (n=15). The experimental group performed robot-assisted gait training for 30 minutes and the control group performed gait training with assisted devices training for 30 minutes after both groups performed conventional physical therapy for 30 minutes. Both groups performed the therapeutic interventions for 5 days per week, for a period of 4 weeks. For assessment of the 10 m walking test (10 MWT), Figure of 8 on the walk test (F8WT), Timed-Up and Go test (TUG), and Berg Balance Scale (BBS) were used to test the gait and balance, and the Korean version of the Activities-specific Balance Confidence Scale was used to test the balance confidence. Results: The experimental group showed significant improvement in the 10 MWT and the K-ABC (p<0.05), and the control group showed significant improvement in the BBS and the TUG (p<0.05). In four measurements, there were significant differences between the two groups (p<0.05), and the control group showed significant improvement in the F8WT at pre and post intervention (p<0.05). Conclusion: This study demonstrated that Robot-assisted gait training with visual feedback is an effective intervention for improving straight gait abilities and balance confidence, while the control group showed some improvement in curve gait and balance. Thus, we suggest both Robot-assisted gait training with visual feedback and gait training with assisted devices training exercise as a therapeutic intervention in chronic stroke rehabilitation.

• Journal of International Academy of Physical Therapy Research
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• v.2 no.2
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• pp.288-293
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• 2011

The purpose of this study is to examine the effects of gait training using functional electrical stimulation on the improvement of hemiplegic patients' functions for balance and gait velocity. The subjects of the experiment were determined to be 10 each hemiplegic patients who had been diagnosed with stroke or brain damage six months or longer earlier assigned to an experimental group and a control group respectively. The subjects were evaluated before the experiment using Tetrax and 10M gait tests, received gait training five times a week for four weeks using functional electrical stimulation and were evaluated after the experiment in the same method as used in the evaluation before the experiment. In order to examine differences between the experimental group that received gait training using functional electrical stimulation and the control group that was treated by functional electrical stimulation and received gait training thereafter, differences between before and after the experiment were analyzed using paired sample t-tests and differences in changes after the experiment between the experimental group and the control group were analyzed using independent sample t-tests in order to compare the two groups with each other. Experimental results showed significant differences in weight bearing, balance and gait velocity between before and after the experiment in the experimental group(p<.05). In the control group, whereas weight bearing and gait velocity did not show any significant difference between before and after the experiment(p>.05), balance showed significant differences(p<.05). Weight bearing, balance and gait velocity change rates showed significant differences between the experimental group and the control group(p<.05). In conclusion, it was indicated that gait training using functional electrical stimulation is effective for enhancing stroke patients' weight bearing rates, balance abilities and gait velocity.