• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• 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.

• 대한임상전기생리학회지
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• 제8권2호
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• pp.33-37
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• 2010

Purpose : We investigated the effects of the insole types on lower leg muscle activation during treadmill walking. The three insole types investigated for this study were normal insole, medial wedge insole, and viscoheel. Methods : Participants were assigned into three groups. People with foot transformation were excluded from this study. Each participant walked for ten minutes. The first day we applied a normal insole. On the second day, a medial wedge insole was applied. Finally, on the last day a viscoheel was applied. After walking on a treadmill for ten minutes, we measured muscle activation in lower leg muscles (gastrocnemius and tibialis anterior). Surface electromyography (EMG) was used to measure muscle activity. The data were analyzed using one-way analysis of variance (ANOVA) with repeated measures to determine the statistical significance. Results : The results of this study were summarized as follows. While walking on the treadmill, root mean square (RMS) values of the gastrocnemius when the viscoheel was applied were significantly lower than the other insole types. There was no significant difference for the RMS values for the tibialis anterior using viscoheel. The normal insole and viscoheel insole were significantly different in a post hoc analysis. However, there was no significant difference for normal insole and medial wedge insole. Conclusion : Using a viscoheel insole decreases muscle activity of the lower leg. Therefore, in conclusion, the viscoheel insole type reduces the load on the lower leg during walking.

• 한국운동역학회지
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• 제18권4호
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• pp.125-133
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• 2008

본 연구의 목적은 파워보행 시 하지근의 근활성 정도를 비교 분석하고자 근전도 측정을 통해 파워보행과 일반보행 시 하지근비 평균적분 근전도 및 최대적분 근전도를 측정하였다. 피험자는 근골격계에 이상이 없는 남자 대학생 17명으로 선정하였으며, 실험 간 140 beat/min속도로 보행을 실시하였다. 일반보행 동작과 파워보행 동작의 구간별 근전도치를 비교해 본 결과 일반보행 동작 시 보다, 강하고 힘차게 걷는 파워보행 동작 시에서 측정하고자 하는 하지근의 대부분 근육활동이 전체적으로 높게 나타났다. 특히 보행 동작에서 주동근이 되는 대퇴직근 내측광근, 외측광근의 활동이 일반보행 동작보다 파워보행 동작에서 높게 나타났으며, 발이 지면에서 떨어지기 전 지면을 힘껏 밀 때 사용되어지는 내측비복근, 외측비복근에서, 발뒤꿈치가 지면에 닿을 때 사용되어지는 전경골근에서 일반보행동작보다 파워보행 동작에서 전체적으로 통계적으로 높은 유의한 근육활동이 나타났다. 이는 파워보행 동작이 일반 보행 동작보다 더욱 많은 근육활동을 유발시킴으로 하지근의 근육강화 및 에너지 소비에 직접적으로 도움이 되는 유산소 운동으로써 파워보행을 활용 할 수 있을 것이라 판단되어진다. 따라서 본 연구의 결과 파워보행 동작이 건강유지와 다이어트를 원하는 사람들에게 일반보행 보다 더 높은 효과가 있을 것으로 판단된다.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• PNF and Movement
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• 제13권1호
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• pp.39-46
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• 2015

Purpose: The accelerometer is a tool for evaluating walking by the displacement of the center of mass (COM) in the body. Recently, smartphones have added an accelerometer app, and it can be used to evaluate outcomemanures in rehabilitation. The purpose of this study was to investigate the COM in the bodies of normal persons and stroke patients using this smartphone application while walking. Methods: Twenty normal persons and twenty-two stroke patients were recruited and had their COM measured using G-walk and the smartphone application, SMAP, during 10 m walking. Subjects repeated the 10 m of walking 3 times, and we used the SMAP, Accelerometer Monitor ver. 1.5.0, to evaluate COM during the walk. To measure the displacement of COM, we used the difference in value between the maximal angle and the minimum anterior-posterior (AP), mediolateral (ML), and rotational angles during the walk. Results: For the normal persons, there was significant correlation between the AP and AP of SMAP, and was also a significant correlation between rotational angle and the ML of SMAP. In the stroke patients, there was significant correlation between AP and ML, and the rotational angle of SMAP. Conclusion: Our research results suggest that if the SMAP system is reinforced in the case of patients who have a greater displacement of COM, it may be used as an evaluation tool during walking.

• 대한영양사협회학술지
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• 제23권1호
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• pp.78-93
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• 2017

The purposes of this study were to assess energy expenditure of eight walking activities in normal weight and overweight or obese high school students and to evaluate the accuracy of two accelerometers worn on the ankle and waist. Thirty-five (male 17, female 18) healthy high school students participated in this study. They were classified into normal weight (n=21) and overweight or obese (n=14) groups. The subjects completed five treadmill walking activities (TW2.4, TW3.2, TW4.0, TW4.8, TW5.6), followed by three self-selected hallway walking activities (walk as if walking and talking with a friend: HWL, walk as if hurrying across the street at a cross-walk: HWB, walk as fast as you can but do not run: HWF). Energy expenditure and metabolic equivalents (METs) were measured using a portable indirect calorimeter, and predicted energy expenditures and METs were derived from two accelerometers placed on the ankle and waist. Measured energy expenditures per body weight (kg) of eight walking activities were significantly higher in the normal weight group than in the obese group and significantly higher in female than male. The ankle accelerometer overestimated energy expenditures and METs (bias 49.4~105.5%), whereas the waist accelerometer underestimated energy expenditures and METs (bias -30.3~-85.8). Except for HWF (fast) activity, METs of seven activities were moderate intensity based on Compendium METs intensity categories. HWF (fast) activity was vigorous intensity. METs from the ankle accelerometer were vigorous intensity except TW2.4 activity (moderate intensity). METs from the waist accelerometer were low intensity (TW2.4, TW3.2, TW4.0, TW4.8, HWL) and moderate intensity (TW5.6, HWB, HWF). Physical activity guidelines were developed based on measured physical activity level of high school students. Further studies should investigate the effects of body composition in larger subjects.

• 대한물리치료과학회지
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• 제22권2호
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• pp.43-47
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• 2015

Background : Many factors affect foot and ankle biomechanics during walking, including gait speed and anthropometric characteristics. This study examined the effect of walking speed on peak plantar pressure during the walking. Method : Thirty two normal healthy subjects (16 men, 16 women) were recruited. Peak plantar pressure was investigated using pressure distribution platforms (Pedoscan system) under the hallux heads of the first, second, and third metatarsal bones, and heel. Result : The results also suggest that slow walking speeds may decrease forefoot peak plantar pressure in patients with peripheral neuropathy who have a high risk of skin breakdown under the forefoot(p<0.05). Conclusion : The results also suggest that slow walking speeds may decrease forefoot peak plantar pressure in patients with restricted low extremity range of motion who have a high risk of skin breakdown under the forefoot.

• 한국CDE학회논문집
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• 제16권6호
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• pp.391-396
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• 2011

Gait is walking attitude and indicating state. The body's gait is a good mix in the center of body mechanics and exercises to wake up gently at the same time switch is a pass which is complicated at legs various joints. The shifting action what swing phase and stance phase rhythmic movement of body. One from piece moves with different dot. Especially plain walking and stair walking as a vehicle has been used frequently. Characteristics of the stair walking while the balanced the horizontal and vertical movement. Stair walking often takes place in everyday. It requires large range more than walking at plain in the moment and joint range of gait motion. And consistently applied to joints and various types of loads at legs joint may involve joint disorders. In this study, spastic cerebral palsy existing artificial limbs for disabled people when developing calibration equinus deformity patients induce muscle pain when walking on stairs independently, to reduce the research. Comparing the characteristics of the walking up the stairs for analysis patellofemoral joint pain as a result it is to provide engineering data.

• PNF and Movement
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• 제12권3호
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• pp.143-150
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• 2014

Purpose: The corticospinal tract (CST) is known to be an important pyramidal tract for walking and motor function. However, very little is known about the functional role of the CST in the recovery of motor function. In the current study, we investigated the relation between the CST and motor function in chronic hemiparetic stroke patients. Methods: Fifty-four patients and 20 normal subjects were recruited. The Functional Ambulation Category (FAC) was used in measurement of the walking ability. We classified patients into three groups according to the ability to walk independently: group A, patients who could not walk independently (FAC: 0-2); group B, patients who could walk independently (FAC: 3); and group C, patd walk functionally (stairs and uneven surfaces, FAC 4-5). The Motricity Index (MI) was used to measure the motor function of the affected upper and lower extremities (maximum score: 100). The fractional anisotropy (FA) value, apparent diffusion coefficient (ADC) value, and fiber volume of the CST were used for the diffusion tensor imaging (DTI) parameters. Results: In terms of the CST of the unaffected hemisphere, the FA value of group A was significantly lower than that of normal controls (p <0.05). The fiber volume of group C was significantly higher than that of normal controls (p <0.05). In contrast, the ADC values of all patient groups and the control group did not show any difference (p >0.05). In terms of lower MI and total MI, significant differences were observed between all patient groups (p <0.05). In addition, significant differences in terms of the upper MI scores were observed between groups A and C and between groups B and C (p <0.05); however, no significant difference was observed between groups A and B (p>0.05). Conclusion: The increased fiber volume of the CST in the unaffected hemisphere appears to be related to functional walking ability in chronic stroke patients. This result would be useful for elucidation of the neural recovery mechanism of walking and the investigation of new modalities for the recovery of walking following a stroke with CST injury.