• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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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.

• 한국전문물리치료학회지
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• 제20권4호
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• pp.55-64
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• 2013

The first purpose was to identify the plantar pressure distributions (peak pressure, pressure integral time, and contact area) during level walking, and stair ascent and descent in asymptomatic flexible flatfoot (AFF). The second purpose was to investigate whether peak pressure data during level walking could be used to predict peak pressure during stair walking by identifying correlations between the peak pressures of level walking and stair walking. Twenty young adult subjects (8 males and 12 females, age $21.0{\pm}1.7$ years) with AFF were recruited. A distance greater than 10 mm in a navicular drop test was defined as flexible flatfoot. Each subject performed at least 10 steps during level walking, and stair ascent and descent. The plantar pressure distribution was measured in nine foot regions using a pressure measurement system. A two-way repeated analysis of variance was conducted to examine the differences in the three dependent variables with two within-subject factors (activity type and foot region). Linear regression analysis was conducted to predict peak pressure during stair walking using the peak pressure in the metatarsal regions during level walking. Significant interaction effects were observed between activity type and foot region for peak pressure (F=9.508, p<.001), pressure time integral (F=5.912, p=.003), and contact area (F=15.510, p<.001). The regression equations predicting peak pressure during stair walking accounted for variance in the range of 25.7% and 65.8%. The findings indicate that plantar pressures in AFF were influenced by both activity type and foot region. Furthermore the findings suggest that peak pressure data during level walking could be used to predict the peak pressure data during stair walking. These data collected for AFF can be useful for evaluating gait patterns and for predicting pressure data of flexible flatfoot subjects who have difficulty performing activities such as stair walking. Further studies should investigate plantar pressure distribution during various functional activities in symptomatic flexible flatfoot, and consider other predictors for regression analysis.

• 한국소음진동공학회논문집
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• 제13권3호
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• pp.186-193
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• 2003

Floor vibrations in residence and office buildings are typically induced by heel drop and walking movement of occupants. The criteria of most vibration provisions have been developed based on the vibration caused by heel drop impact rather than walking. There may be considerable differences between the vibration characteristics induced by walking and heel drop. The effect of walking vibration was not well reflected on current provisions. In this paper, shaking table test was performed to investigate the human perception level against the vibrations due to walking and heel drop. This study attempts to compare the human Perception level of two different vibration sources. Also, this study investigates the effect of damping on a Perception level under heel drop and walking vibration.

• Physical Therapy Rehabilitation Science
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• 제7권2호
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• pp.49-53
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• 2018

Objective: This study was performed to examine differences in the association between straight and curved walking abilities of inpatients in the subacute phase and walking independence level. Design: Cross-sectional study. Methods: Subjects were divided into an independent group and a supervised group (n=10 each) by walking independence level within the ward decided by physical therapists. Inclusion criteria comprised the ability to ambulate independently within the ward, regardless of the use of walking aids. Straight walking abilities (walking velocity, stride length, and cadence) were evaluated using the 5-meter walk test. Curved walking abilities were evaluated using the Figure-of-8 Walk Test (F8W) and the 3-meter zigzag walk test (3ZW). Differences in associations between straight and curved walking abilities of inpatients were examined by calculating correlation coefficients between straight and curved walking abilities. Results: Age, walking velocity, stride length, F8W and 3ZW varied markedly between independent and supervised groups. In the independent group, F8W and 3ZW correlated significantly with walking velocity and cadence (p<0.05). In the supervised group, F8W correlated significantly with walking velocity and stride length (p<0.05), but 3ZW did not correlate significantly with straight walking abilities. Conclusions: The association between straight and curved walking abilities varied between inpatients who could ambulate independently and inpatients requiring supervision for ambulating. These differences may depend on skill on straight and curved walking abilities. There is a possibility that curved walking exercise is necessary for supervised group.

• 보건교육건강증진학회지
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• 제24권4호
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• pp.99-114
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• 2007

Object: To analyze the effect of a media-campaign for "walking exercise participation improvement", which impacted walking-related awareness and behavior change of residents in Seoul. Method: This study used three campaign media including printing information, walking exercise indication board and a public advertisement of cable TV to lead a walking-related awareness change and practice frequency(number of days per week walking) and time(minutes per day walking) of walking exercise. To evaluate the exposure and message-recall levels of a campaign and effects of awareness change and walking practice, this study used a questionnaire survey(N=377). Result: 1) Group of exposure to campaign more participate and had the higher frequency(p=.015) and time(p=.023) in walking exercise and in comparison with group of nonexposure. 2) Group of changed awareness to campaign more participate and had the higher frequency and time in walking exercise and in comparison with group of no changed perception(p <.05). 3) Level of message recall of ${\ulcorner}$printing information${\lrcorner}$ was associated with number of days per week walking, and level of message recall of ${\ulcorner}$public advertisement of cable TV${\lrcorner}$ was associated with minutes per day walking at a statistically significant level(p <.05). Conclusion: These results suggest that media campaign can enhance the success of community-based efforts to promote awareness change and walking practice.

• The Korean Journal of Physiology
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• 제5권2호
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• pp.29-40
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• 1971

Oxygen consumption, pulmonary ventilation, heart rate, and breathing frequency were measured on 8 men walking on a treadmill carrying load of 9 kg on hand, back, or head. Besides measurements were made on subjects carrying loads of 2.6 kg each on both feet. The speed of level walking was 4, 5, and 5.5km/hr and a fixed speed off km/hr with grades of 0, 3, 6, and 9%. Comparisons were made between free walking without load and walking with various types of loads. The following results were obtained. 1. In level or uphill walking the changes in oxygen consumption, pulmonary ventilation, breathing frequency and heart rate were smallest in back load walking, and largest in hand load walking. The method of back load was most efficient and hand load was the least efficient. The energy cost in head load walking was smaller than that of in hand load walking. It was assumed that foot load costed more energy than hand load. 2. In level walking the measured parameters increased abruptly at the speed of 5.5 km/hr. Oxygen consumption in a free walking at 4 km/hr was 11.4ml/kg b.wt., and 13.1 ml/kg b.wt. 5.5 km/hr, and in a hand load walking at 4 km/hr was 13.9, and 18.8 ml/kg b. wt. at 5.5 km/hr. 3. In uphill walking oxygen consumption and other parameters increased abruptly at the grade of 6%. Oxygen consumption at 4 km/hr and 0% grade was 11.4 ml/kg b. wt., 13.6 at 6% grade, and 16.21/kg b. wt. at 9% grade in a free walking. In back load walking oxygen consumption at 4km/hr and 0% grade was 12.3 ml/kg b.wt.,14.9 at 6% grade, and 18.7 ml/kg b.wt. In hand load walking the oxygen consumption was the greatest, namely, 13.9 at 0% grade, 17.9 at 6%, and 20.0 ml/kg b. wt. at 9% grade. 4. Both in level and uphill walking the changes in pulmonary ventilation and heart rate paralleled with oxygen consumption. 5. The changes in heart rate and breathing frequency in hand load were characteristic. Both in level and uphill walk breathing frequency increased to 30 per minute when a load was held on hand and showed a small increase as the exercise became severe. In the other method of load carrying the Peak value of breathing frequency was less than 30 Per minute. Heart rate showed 106 beats/minute even at a speed of 4 km/hr when a load was held on hand, whereas, heart rate was between, 53 and 100 beats/minute in the other types of load carriage. 6. Number of strides per minute in level walking increased as the speed increased. At the speed floater than 5 km/hr number of strides per minute of load carrying walk was greater than that of free walking. In uphill walk number of strides per minute decreased as the grade increased. Number of strides in hand load walk was greatest and back load walk showed the same number of strides as the free walk.

• 한국전문물리치료학회지
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• 제26권2호
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• pp.16-23
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• 2019

Background: High-heeled shoes can change spinal alignment and feet movement, which leads to muscle fatigue and discomfort in lumbopelvic region, legs, and feet while walking. Objects: This study aimed to identify the effects of different shoe heel heights on the walking velocity and electromyographic (EMG) activities of the lower leg muscles during short- and long-distance walking in young females. Methods: Fifteen young females were recruited in this study. The experiments were performed with the following two different shoe heel heights: 0 cm and 7 cm. All participants underwent an electromyographic procedure to measure the activities and fatigue levels of the tibialis anterior (TA), medial gastrocnemius (MG), rectus femoris (RF), and hamstring muscles with each heel height during both short- and long-distance walking. The walking velocities were measured using the short-distance (10-m walk) and long-distance (6-min walk) walking tests. Results: Significant interaction effects were found between heel height and walking distance conditions for the EMG activities and fatigue levels of TA and MG muscles, and walking velocity (p<.05). The walking velocity and activities of the TA, MG, and RF muscles appeared to be significantly different between the 0 cm and 7 cm heel heights during both short- and long-distance walking (p<.05). Significant difference in the fatigue level of the MG muscle were found between the 0 cm and 7 cm heel heights during long-distance walking. In addition, walking velocity and the fatigue level of the MG muscle at the 7 cm heel height revealed significant differences in the comparison of short- and long-distance walking (p<.05). Conclusion: These findings indicate that higher shoe heel height leads to a decrease in the walking velocity and an increase in the activity and fatigue level of the lower leg muscles, particularly during long-distance walking.

• 한국운동역학회지
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• 제20권4호
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• pp.381-386
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• 2010

This study examined the changes in the walking pattern during level walking under low illumination conditions. Fourteen male subjects ($22.1{\pm}2.21$ years, $174{\pm}3.74\;cm$, $68.86{\pm}10.81\;kg$) with normal vision and no disabilities were enrolled in this study. All experiments were performed on a level walkway with three conditions: normal walking (preferred & low speed) and walking with low illumination. 3D motion capturing system was used for acquisition and analysis of the walking motion data with a sampling frequency of 120Hz. The walking speed, normalized jerk(NJ) at the center of mass(COM), wrist and heel, knee and elbow joint angle, ratio of the knee joint angle to elbow joint angle and the toe clearance on stance phase were used to compare the differences in walking pattern between the two illumination conditions, The results showed that the walking speed and joint angles decreased in low illumination, whereas the NJ and toe minimum clearance increased. In low illumination, most variables were similar to effects of low speed walking, but toe clearance was different from the effects of low speed. These results can be used as primary data for examining the changes in the level walking pattern of young adults under low illumination. Further study will be needed to compare these results in young adults with those in the elderly.

• 한국보건간호학회지
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• 제15권1호
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• pp.172-181
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• 2001

This study was performed to explore the effects of walking exercise on blood glucose level in the diabetes mellitus patients. The design of this study was a equivalent pre-post test experiment. The subjects consisted of eighteen diabetes mellitus patients. The walking exercise consists of 22.5minutes, speed of 120walking per minute. Data were analyzed with mean, standard deviation, Wilcoxon signed rank test, Spearman correlation and percentage using SAS program. The results were as follows. 1. The blood glucose level has significantly decreased after walking exercise. 2. Strength of exercise and change of blood glucose level was revealed correlation. 3. Age and strength of exercise was revealed high correlation. 4. Satisfaction after walking exercise was revealed all patients. In conclusion, the walking exercise can decrease blood glucose level. This exercise was show a positive effect on the exercise compliance.

• The Journal of Korean Physical Therapy
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• 제15권4호
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• pp.384-397
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• 2003

The purpose of this study was to investigate the effect of Treadmill Training on WISCI level, walking velocity, walking endurance, motor score and gait cycle of spinal cord injury patient with incomplete. Four subjects with spinal cord injury participated in this study. They took walking excercise 5 times per week for 8 weeks. One time excercise spent 30minutes. The theraputic effect was evaluated by WISCI level, walk 10 meters test, walk for 12 minutes test, motor score and gait cycle. Four subjects were examined before, after 8 week, walking training. Collected data were statistically analyzed by SPSS PC for Wilcoxon signed rank test. The results of this study are as follows; 1) In WISCI level, walking velocity, walking endurance and motor score, post - treatment score were higher compared to pre-treatment score with statistical significance(p<0.05). 2) In Rt SLS, DLSII and Lt SLS, post-treatment percentage were higher compared to pre-treatment percentage with statistical significance(p<0.05). but DLSI were not statistical significance(p>0.05). The findings suggest that spinal cord injury patients with incomplete can improve their WISCI level, walking velocity, walking endurance, motor score and gait cycle through Treadmill gait training.