• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.997-998
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• 2010

• 대한의용생체공학회:의공학회지
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• 제28권2호
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• 대한통합의학회지
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• 제3권4호
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• pp.69-78
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• 2015

Purpose: The purpose of this study was to identify whether inclined treadmill gait training with rhythmic auditory simulation (RAS) could improve on balance and gait in stroke patients. Method: Fifteen stroke patients who had agreed with the study were allocated to the group 1(n=5), group 2(n=5), or group 3(n=5). The group 1, group 2 and group 3 performed RAS with inclined treadmill gait training, inclined treadmill gait training and treadmill without incline gait training respectively for 3 weeks (30 minutes per session, 5 times in a week). The balance was assessed using Timed Up & Go (TUG) and Berg Balance Sale (BBS), and the gait was evaluated using 6 Minutes Walking Test (6MWT) and spatio-temporal walking variables as walking speed, cadence, Single Limb Support of affected side(SLS) and Symmetric Index(SI) before and after training. Result: Both the group 1 and group 2 showed significant improvement after training in all variables of balance and gait. The group 3 showed significant improvement in TUG values, 6MWT values, walking speed, cadence and SI. The changes in the group 1 were significantly greater in all dependent variables of balance and gait than those of the group 2 and group 3. The changes in the group 2 were significantly greater in TUG values, BBS scores, 6MWT values, walking speed, and cadence than those of the group 3. Conclusion: The result of this study show inclined treadmill gait training with RAS is more effective to improve balance and gait in stoke patients than inclined treadmill or general treadmill gait training without RAS.

• 대한물리의학회지
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• 제13권4호
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• pp.95-103
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• 2018

PURPOSE: The present study was conducted to investigate the effects of functional electrical stimulation gait training with rhythmic auditory stimulation on balance and gait ability in stroke patients. METHODS: In this blinded randomized controlled study, 26 stroke patients were assigned to either experimental group (n=13) consisting of 30 min of gait training 5 days per week for 4 weeks while performing functional electrical stimulation gait training with rhythmic auditory simulation, or a control group (n=13) performing the same gait training program, also consisting of 30 minutes 5 days a week and lasting for 4 weeks, but without functional electrical stimulation and rhythmic auditory stimulation. At baseline and after the 4 week intervention, balance was measured using the timed up and go test (TUG). Gait velocity was measured using the 10-meter walk test (10 MWT) and gait ability was assessed using the functional gait assessment (FGA). RESULTS: After the intervention, the experimental group showed statistically significant differences in gait velocity and ability (10 MWT, FGA) (p<.05). Between-group differences were statistically significant in gait velocity and ability (10 MWT, FGA) (p<.05). CONCLUSION: The findings suggest that functional electrical stimulation gait training with a rhythmic auditory stimulation gait training program may help improve gait ability in stroke patients.

• 동력기계공학회지
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• 제20권4호
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• pp.19-25
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• 2016

It is needed to use the gait training system for the rehabilitation of the disabled and old people. In this study, a gait training system of turn roller type is proposed for the purpose of helping the rehabilitation. A driving mechanism with the turn roller is designed by using the RecurDyn which is the dynamic analysis program. RecurDyn is used to analyze the dynamic behavior of the gait training system. The static load analysis is carried out to investigate the safety of this system. From the operating test of this system, it is noted that the driving error is little and the load capacity is 130 kgf.

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.

• 대한물리치료과학회지
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• 제9권1호
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• pp.81-88
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• 2002

This paper presents a design and a control of a New Reciprocating Gait Orthosis and dynamic walking simulation for this system. The New Reciprocating Gait Orthosis is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a New Reciprocating Gait Orthosis depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the New Reciprocating Gait Orthosis. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal card injury patients are able to train effectively with a Reciprocating Gait Orthosis. The New Reciprocating Gait Orthosis was able to keep smooth walling by the orthotic servo motors and hybrid system, make a sequence of flexion and extension of the joint during the walking. Also, the New Reciprocating Gait Orthosis turned out to be a satisfactory orthosis for walling training, for the spinal cord injury patient.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.587-592
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• 2013

Until recently, the primary users of wheelchairs were people with lower body disabilities. However, the number of patients recovering from accidents or surgery, as well as the number of elderly people using wheelchairs, is constantly increasing. This study examined the design and manufacture of standing and gait assist wheelchairs that assist temporary gait disturbed patients to take rehabilitation training and elderly people to engage in walking exercise. A kinematic analysis was used to select a drive motor and design a four-bar linkage mechanism for lifting the backrest vertically. Using a multibody dynamic simulation, detailed design was performed taking into consideration the spatial motion and partial interference, and the necessary push force and stroke of the linear actuator were also calculated. To ensure structural safety, the von-Mises equivalent stresses of the upper and lower brackets of the linear actuator were verified through a finite element analysis. The manufactured wheelchair was shown to operate successfully as intended, using the developed controller for the drive motors and linear actuator.