• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.861-862
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• 2008

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.315-322
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• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• Journal of Veterinary Clinics
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• v.31 no.4
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• pp.278-281
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• 2014

The object of this study was to determine rate of ability restoration after arthroscopic surgeries in Thoroughbred racehorses. The racehorses that under arthroscopic surgery due to be injured his limbs were studied during exercise or training at Busan Race Park from 2005 to 2010. Rate of arthroscopic surgical treatments was 1.4% (63/4642). The results of arthroscopic surgery for the removal of osteochondral fragments from 70 limbs in 63 horses are reported. Number of patients under arthroscopic surgery were 63 and 58 horses were recovered from the surgeries and 5 horses were in training or resting at the time of publication. Only 52 of 58 horses had previous race experiences before the surgeries. Success horses of returned to the same level of performance were 31 horses (59.6%) and failed horses were 21 horses (40.4%). Average resting periods in success and failed horses were 7 months and 8.8 months, respectively. Resting periods in success horses were shorter than failed horses.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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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.

• The Journal of Korean Physical Therapy
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• v.27 no.2
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• pp.124-127
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• 2015

Purpose: The emphasis on gait rehabilitation after stroke depends on training support through the lower limbs, balance of body mass over the changing base of support. However, muscle weakness, lack of control of lower limb, and poor balance can interfere with training after stroke. For this case study report, a wearable robot orthosis was applied to stroke patients in order to verify its actual applicability on balance and gait ability in the clinical field. Methods: Two stroke patients participated in the training using the wearable robot orthosis. Wearable robot orthosis provides patient-initiated active assistance contraction during training. Training includes weight shift training, standing up and sitting down, ground walking, and stair up and down Training was applied a total of 20 times, five times a week for 4 weeks, for 30 minutes a day. Gait ability was determined by Stance phase symmetry profile, Swing phase symmetry profile, and velocity using the GAITRite system. Balance ability was measured using the Biodex balance system. Results: Subjects 1, 2 showed improved gait and balance ability with mean individual improvement of 72.4% for velocity, 19.4% for stance phase symmetry profile, 9.6% for swing phase symmetry profile, and 13.6% for balance ability. Conclusion: Training utilizing a wearable robot orthosis can be useful for improvement of the gait and balance ability of stroke patients.

• Physical Therapy Korea
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• v.19 no.1
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• pp.28-36
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• 2012

This study used an unstable platform to change the support surface type and position of both lower limbs in order to determine changes in weight distribution and muscle including the vastus medialis, tibialis anterior, lateral hamstring, and lateral gastrocnemius of both lower limbs were evaluated during knee joint flexing and extending in a semi-squat movement in 32 hemiplegic patients. The support surface conditions applied to the lower limbs were divided into four categories: condition 1 had a stable platform for both lower limbs; condition 2 had an unstable platform for the non-hemiplegic side and a stable platform for the hemiplegic side; condition 3 had a stable platform for the non-hemiplegic side and an unstable platform for the hemiplegic side; and condition 4 had an unstable platform for both sides. The normalized EMG activity levels of muscles and weight bearing ratio of both sides in the four surface conditions were compared using repeated measures ANOVA. A significant increase was found in the weight support distribution for the hemiplegic side in flexing and extending sessions in condition 2 compared to the other conditions (p<.05). A statistically significant decrease in significant decrease in asymmetrical weight bearing in flexing and extending sessions was observed for condition 2 compared to the other conditions (p<.05). A similar significant decrease was found in differences in muscular activity for both lower limbs in condition 2 (p<.05). The muscular activity of the hemiplegic side, based on the support surface for each muscle showed a significantly greater increase in condition 2 (p<.05). An unstable platform for the non-hemiplegic side and a stable platform for the hemiplegic side therefore increased symmetry in terms of the weight support distribution rate and muscle activity of lower limbs in hemiplegic patients. The problem of postural control due to asymmetry in hemiplegic patients should be further studied with the aim of developing continuous effects of functional training based on the type and position of the support surfaces and functional improvement.

• Journal of the Korean Society of Physical Medicine
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• v.4 no.3
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• pp.165-174
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• 2009

Purpose：This study was performed for effects of gait training on treadmill and stable surface which influenced on the lower limbs muscular activity needed in gait, plantar foot pressure with hemiplegic patients caused by cerebrovascular accident. Methods：Two groups of adult hemiplegia(n=20) were allocated randomly in this study: treadmill gait training group and control group. The gait training program was provided to experimental groups for 8 weeks (5 times a week). Measurements of pre and post experiment were plantar foot pressure. For measuring muscular activation rectus femoris, biceps femoris, tibialis anterior, gastrocnemius were detected. Results：The results of this study showed that in comparison of pre and post changes of gait training, the treadmill gait training group has noticeable changes than other groups in activity of rectus femoris and tibialis anterior, the control group revealed statistically significant differences in plantar foot pressure Toe2-5, M1, M3, M5, MF area, activity of gastrocnemius. Conclusion：These results mean gait training resulted by treadmill, stable surface provides effective muscle activation and plantar foot pressure with stroke.

• Journal of the Korean Society of Physical Medicine
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• v.2 no.2
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• pp.143-150
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• 2007

Purpose : This article was a quasi-experimental study that applies to external -feedback weight-bearing training among hemiplegic patients with a stoke. Methods : It examined whether position sense and balance can improve fall efficacy and prevent a fall. The subject of study was divided in two; Experimental group had 18 people and control group had 16 people. It took 8 weeks to finish training. Experimental group provides external-feedback weight-bearing training for ten minutes after neurological treatment for 20 minutes and control group provides nerves treatment for 30 minutes. To find the effect of a fall assessed position sense, balance and fall efficacy of the lower limbs before the fact, after 4 weeks and 8 weeks. Results : According to the conclusions, external-feedback weight-bearing training to prevent a fall was more effective intervention in experimental group than in control group. Conclusion : This study suggests that external-feedback weight-bearing training is a intervention to prevent the fall of hemiplegic patients with a stroke effectively.

• Journal of Korean Physical Therapy Science
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• v.15 no.4
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• pp.61-74
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• 2008

Background: Purpose of this study is mat exercises and sling exercises that based on proceeding studies for exercising protocol for spinal stabilization. Methods: We analyze many other bibliographies and result of studies. Results: The vertebrae stabilization practices are formed on intra-abdominal pressure and converted into isolation of our body and limbs gradually through co-contraction training of transverse abdominis, pelvic floor muscle and diaphragm. Also, for prevention of low back pain and relapse, it is diverted to reflex muscle contraction training as well as functional integration. What is better, it should carry out with Activity of Daily Living. Conclusion: We should feel the necessity of it, more effective recognition training of local muscle for chronic low back pain patients. Besides, it is suggested that we should import measurable equipment and go hands with discipline.

• Korean Journal of Applied Biomechanics
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• v.19 no.4
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• pp.637-645
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• 2009

The purpose of this study was to investigate the biomechanical alterations in the punching motion of 10 elderly women after 12 weeks of taekwonaerobics training. Seven infrared cameras(Qualisys MCU-240) and 2 force platforms(Kistler-9286AA) were used to acquire raw data. The results were as follows. First, the minimum joint angles of the lower limbs had a statistically significant difference between both the dorsiflexion/plantar flexion(1eft, $p=0.001^*$) and the inversion/eversion(both, $p=0.009^*$, $p=0.04^*$) from the ankle angle. There were differences in abduction/adduction(left, $p=0.04^*$) from the knee angle, as well as internal/external rotation(both, $p=0.07^*$, $p=0.02^*$) from the hip angle. Second, the maximum resultant joint moments of the lower limbs had statistically significant differences in the inversion/eversion moment from the ankle joint(both, $p=0.05^*$, $p=0.05^*$), the abduction/adduction moment(left, $p=0.08^*$) from the knee joint, and the internal/external rotation moment(right, $p=0.09^*$) from the hip joint. Third, the maximum resultant joint powers of the lower limbs had a statistically significant difference both in flexion/extension joint powers(both, $p=0.05^*$, $p=0.01^*$) and in abduction/adduction(both, $p=0.02^*$, $p=0.00^*$) from the hip joint, as well as abduction/adduction(left, $p=0.00^*$) from the knee joint, In conclusion, the elderly women were somewhat changed after 12 weeks of taekwonaerobics training.