• 대한기계학회논문집
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• 제14권6호
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• 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.

• 한국노년학
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• 제29권1호
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• pp.259-273
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• 2009

본 연구의 목적은 지역사회 재가노인을 대상으로 Home Support Exercise Program(HSEP)을 적용한 다면적 낙상예방프로그램 실시 후 노인의 신체균형과 보행정도, 하지근력, 낙상공포 및 낙상효능감에 미치는 영향을 파악하기 위한 것이다. 연구 설계는 비동등성 대조군 사전, 사후 유사 실험연구이다. 연구대상자는 충북 지역 내 일개 시의 2개 경로당을 이용하는 65세 이상 노인을 대상으로 하였다. 최종연구대상자는 실험군 20명, 대조군 21명으로 총 41명이었다. 자료수집은 일대일 면담 측정을 통하여 수집하였으며 사전조사, 실험처지, 사후조사 순으로 진행하였다. 낙상예방프로그램은 HSEP와 낙상예방 교육으로 구성되어 있으며, 경로당에서 8주간 주 1회 1시간씩 HSEP 운동과 함께 낙상예방 지식을 교육하였고, 가정에서 주 2회 자가 운동을 수행하도록 하여 총 3회/1주의 HSEP 운동을 하도록 하였다. 낙상예방프로그램 실시 후 실험군이 대조군보다 신체균형감과 보행정도, 하지근력(대퇴신전근과 굴곡근, 무릎 굴곡근, 발목관절 족저굴곡근과 족배굴곡근), 낙상효능감이 통계적으로 유의하게 증진되었다. 결론적으로 HSEP를 적용한 낙상예방프로그램은 재가노인의 낙상예방을 위해 효과적이었으므로 경로당, 노인복지관, 노인시설 등 다양한 낙상위험 환경에 처해있는 노인을 대상으로 낙상 예방 프로그램을 적용하여 효과를 검증하는 연구가 확대되어야 할 것이다.

• 대한인간공학회지
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• 제13권1호
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• pp.3-14
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• 1994

In this study, the human gait trajectories during normal walking were synthesized using the inverse kinematics and optimization techniques. The synthesis is based on a gait model consisting of a torso and two legs. Each let has three segments: thigh, shank, foot, and has six degrees-of-freedom. In order to synthesize trajectories of this redundant system, the sum of angular displacements of articulating joints was selected as an objective function to be minimized. The proposed algorithm in this study is very useful for the analysis of human gait. For the gait analysis, the trajectories of four points in each leg should be measured. Hpwever, by using the algorithm, measuring the trajectories of two points is sufficient, and thus the experimental set-up can be simplified.

• 대한물리치료과학회지
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• 제25권2호
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• pp.55-61
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• 2018

Purpose: This study is to compare muscle activation of leg muscles with forward and backward gait and treadmill speed. Method: The experimenter is a healthy ten male and female. They practice walking on the treadmill for 2 minutes and then walk 2km/h and 4km/h in front and back for 3 minutes. Muscle activities were recorded from the lower limb muscles (rectus femoris [RF], biceps femoris [BF], gastrucnemius [GCM]). Results: According to the study, lower extremity muscles have higher backward gait than forward gait. Conclusion: Muscle activity at the speed indicated that the muscular activity of the lower limbs was 4.0km/h, which is higher than 2.0km/h.

• 재활간호학회지
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• 제9권1호
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• pp.42-48
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• 2006

Purpose: The purpose of this study was to explore the effect of Tai Chi exercise on pain, balance, gait and physical function of patients with low back pain. Method: This study was designed one group pretest-posttest design. Tai Chi exercise was conducted by researcher and carried out for sixty minutes per one time and two times a week for six weeks. The subjects of this study consisted of 23 low back patients. Using the SPSS win 10.0 program was used for data analysis, which included frequency, percentage and paired t-test. Result: Tai Chi exercise decreased pain, improved balance and gait, increased physical function(back muscle strength, leg muscle strength and flexibility). Conclusion: The results suggested Tai Chi exercise can be effective nursing intervention to improve pain, balance, gait and physical function of patients with low back pain.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권12호
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• pp.689-695
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• 2003

Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• 국제물리치료학회지
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• 제11권4호
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• pp.2197-2202
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• 2020

Background: If there is a difference in leg length, the center of gravity shifts unilaterally toward the short leg, causing loss of balance and secondary postural imbalance, trunk muscle tone changes, gait abnormalities and pelvic imbalance. Objectives: To investigate effects of self exercise program on leg length, balance in adults with leg-length discrepancy. Design: Single blind randomized controlled trial. Methods: Twenty-eight participants were selected and divided into resistance exercise, flexibility exercise, and core exercise. Each exercise was performed for 40 minutes, 3 times a week for 6 weeks. Leg length and balance before and after exercise were measured and analyzed. Results: Following the interventions, resistance exercise group showed significant improvement in balance, but leg length difference did not show significant results. Flexibility exercise group showed significant improvement in leg length difference, but balance did not show significant results. Core exercise group showed significant improvement in leg length difference and balance. There was no significant difference in the comparison between the three groups. Conclusion: This study suggests that customized exercise according to the patient's level is beneficial to the patients.

• 대한물리의학회지
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• 제16권2호
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• pp.63-70
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• 2021

PURPOSE: This study aimed to analyze the factors influencing the improvement of global synkinesis (GS) and gait in stroke patients by the weight shift exercise. METHODS: Twenty stroke patients were randomly assigned to experimental group I (n = 10) and experimental group II (n = 10). In experimental group I, weight shift with upper extremity exercises in a standing position were mediated and in experimental group II, upper extremity exercises in a standing position were mediated. These interventions were conducted in both groups for three sessions per week, 30 minutes per session over four weeks. Before the interventions, leg GS was measured using surface electromyography and the 10m walk test (10MWT). The same parameters were measured four weeks later. RESULTS: The GS and 10MWT of the experimental group I showed that there was a statistically significant difference between dorsiflexion (p < .05) and plantarflexion (p < .01) and 10MWT (p < .01). In experimental group II, there was a statistically significant difference only in 10MWT (p < .01). The comparison between the changes in both groups showed that in the case of GS, there was a statistically significant difference in the dorsiflexion (p < .01) and plantarflexion (p < .05), and in the 10MWT too (p < .05). CONCLUSION: GS of the lower extremities was decreased by improving posture control and enlarging soft tissues due to the symmetrical weight shift in experimental group I, which turned out to be effective in improving the gait speed.

• 한국지능시스템학회논문지
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• 제22권3호
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• pp.305-311
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• 2012

본 논문에서는 4족 로봇 몸체의 xz-축 스웨이(sway)를 이용하여 4족 로봇의 몸체 흔들림을 최소로 하고 안정도 여유를 최대로 하는 걸음새 생성 방법을 제안한다. 제안한 방법에서는 물결 걸음새(wave gait)를 기반으로 생성하고, 안정도 판별은 움직이는 다리의 높이 변화량과 4족 로봇의 몸체 기울기 정보를 이용한다. 이 때, 4족 로봇의 보행 시 z-축 스웨이로 인한 몸체의 충격을 줄이기 위해 푸리에 급수(Fourier series)를 이용하여 다리의 유연한 이동 궤적을 생성한다. 마지막으로, 본 논문에서 제안한 알고리듬의 실제 적용 가능성 및 효용성을 검증하기 위해 모의 실험 및 4족 로봇의 실제 보행 실험을 수행하여 제안한 방법의 보행 성능을 검증한다.