• International Journal of Contents
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• v.9 no.1
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• pp.60-64
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• 2013

This study was performed for two of specific reasons, one is for exercise development for improving stroke patient's muscle power, balance and gait and, after verifying the effect of the exercise, the other is for showing that the appling this exercise was more effective on hemi-plegic stroke patients into the clinical trial. The subjects of this study were hemi-plegic patients by stroke, 51 patients were picked up, who were agreed with this research. Close kinetic chain leg exercise using mirrors was applied to study group I, Close kinetic chain leg exercise without mirrors was applied to study group II and general physical therapy was applied to comparison group. The results of this study are as follows. The difference of the groups, study group I showed more effective than study group II on checking rectus femoris, vastus lateralis, biceps femoris, Korean version of Berg Balance Scale, Center of pressure, Functional gait assessment. In this study, Close kinetic chain leg exercise showed more effective and significant on improving for muscle power, balance and gait on stroke patients. Especially, doing exercise using mirrors is considered as more effective method than without mirrors.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.27 no.1
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• pp.63-73
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• 2021

Background: This study was conducted to investigate the effects of pressure belt during proprioceptive neuromuscular facilitation sprinter pattern training using a Thera-band on leg muscle strength and gait in stroke patients with stroke. Methods: Nine patients with stroke underwent training five times a week for four weeks, and changes in the muscle strength and walking ability of the paralyzed leg before and after training were measured. Muscle strength was measured using a Digital muscle tester, and walking ability was measured using a G-WAKER and the timed up and go (TUG) test. Results: Results showed that the quadriceps, hamstring, tibialis anterior, gastrocnemius, cadence, stride length, and stance phase significantly increased (p<.05). The swing phase, gait cycle duration, and TUG test results significantly decreased (p<.05). Conclusion: This study demonstrated that a pressure belt is a very useful tool for improving muscle strength and walking ability in patients with stroke.

• PNF and Movement
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• v.20 no.1
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• pp.59-66
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• 2022

Purpose: The aim of this research was to verify the relationship between three-dimensional (3D) ground reaction force (GRF) and severity of leg length discrepancy (LLD) while walking at a normal speed. It used a 3D motion analysis system with force platforms in standing workers with LLD. Methods: Subjects comprising 45 standing workers with LLD were selected. Two force platforms were used to acquire 3D GRF data based on a motion analysis system during gait. Vicon Nexus and Visual3D v6 Professional software were used to analyze kinetic GRF data. The subjects were asked to walk on a walkway with 40 infrared reflective markers attached to their lower extremities to collect 3D GRF data. Results: The results indicated the maximal force in the posterior and lateral direction of the long limb occurring in the early stance phase during gait had significant positive correlation with LLD severity (r = 0.664~0.738, p <0.01). In addition, the maximal force medial direction of the long limb occurring in the late stance phase showed a highly positive correlation with the LLD measurement (r = 0.527, p <0.01). Conclusion: Our results indicate that greater measured LLD severity results in more plantar pressure occurring in the foot area during heel contact to loading response of the stance phase and the stance push-off period during gait.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.10
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• pp.56-64
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• 2009

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.301-306
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• 2001

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.3 s.303
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• pp.1-10
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• 2005

This paper proposes a novel fault-tolerant gait planning of a hexapod robot considering kinematic constraints. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. It is shown that the conventional fault-tolerant gait of a hexapod robot for forward walking on even terrain may be fallen into deadlock, depending on the configuration of the failed leg. For coping with such deadlock situation, a novel fault-tolerant gait planning is proposed. It can avoid deadlock by adjusting the position of the foot trajectory, and has the same leg sequence and stride length as those of the conventional fault-tolerant gait. To demonstrate the superiority of the proposed scheme, a case study is presented in which a hexapod robot, having walked over even terrain before a locked joint failure, could avoid deadlock and continue its walking by the proposed fault-tolerant gait planning.

• Physical Therapy Korea
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• v.2 no.2
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• pp.9-23
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• 1995

The objective of this study was to identify the effects of weight-transfer training on the weight bearing distribution and gait patterns of hemiplegic patients through visual and auditory feedback using a limb load monitor. The subjects of this study were 18 hemiplegic patients who had been hospitalized or were visited out-patient department of the Rehabilitation Hospital, College of Medicine, Yonsei University, from January 5, 1995 through March 15, 1995. Pre-and post-training changes in gait patterns were measured using ink foot prints as well as by recording weight bearing distribution using a limb load monitor. The data were analyzed by the repeated measure one-way ANOVA and paired t-test. The finding were as follows: 1. Prior to the training, 18 subjects bore more weight on the sound leg(61.6 %) than on the affected leg(38.4 %). 2. Posterior to the training, the average percentage of weight bearing on the affected leg increased significantly from 38.4 % prior to training; to 46.0 % immediately after training; 45.7 % after a 30 second delay; and 45.3 % after a 60 second 3. The difference in gait patterns between pre- and post- training was statistically significant, with an increase in gait velocity to 3.65 cm/sec post-training; an increase in stride length to 5.37 cm on the affected side; 4.77 cm on the sound side; and a narrowing of the base of support to 1.19 cm. In conclusion, hemiplegic weight-transfer training using visual and auditory feedback with a limb load monitor was found to be enhancing symmetrical standing posture, and simultaneously improve gait patterns.