• 한국운동역학회지
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• 제13권1호
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• pp.121-137
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• 2003

The purpose of this study was to investigate the effect of the stair heights on lower extremity joint moment in stair-ascent activity Data were collected by 3-D cinematography, force platform. six normal males were participated in this experiment. All subjects performed a stair-ascent in four different heights of stairs (10, 14, 18, 22cm) having a 5 step staircase. The moment of lower extremity joint was analyzed during stance phase. The results were as follows: First, the second increase of plantar flexion moment of ankle joint in the 'forward continuance' phase was not occurred for stair A and B. But it occurred for stair C and D. And the maximum plantar flexion moment increased as the stair height become higher. Second, it was shown that the maximum inversion moment of the ankle joint was the smallest at stair B and it increased significantly at stair C. Third, maximum extension moment appeared in the 'pull-up' phase. And it increased as the stair height become higher. Fourth, it was shown that the maximum abduction moment of the knee joint was the smallest at stair C and it increased significantly at stair C. Fifth, maximum extension moment of hip joint increased significantly at stair C. Sixth, remarkable value of adduction moment occurred at hip joints and maximum adduction moment increased at stair D.

• 한국운동역학회지
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• 제25권1호
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• pp.85-94
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• 2015

Purpose : The purpose of this study was to investigate the influence on the ground reaction force parameters according to wearing positions of backpack for during stair ascending and descending. Methods : Participants selected as subject were consisted of young female(n=10) and performed stairs walks(ascending and descending) with 2 types of wearing position(front of trunk[FT], rear of trunk[RT]). Passive(Fz 1) and active(Fz 2) forces of the vertical GRF were determined from time function and frequency domain. Also shear forces(Fx, Fy 1, Fy 2), dynamic postural stability index(MLSI, APSI, VSI, DPSI), loading rate and center of pressure (${\Delta}COPx$, ${\Delta}COPy$, COP area) were calculated from time function and frequency domain. Results : Fx, Fy 1, Fy 2, and Fz 1 in GRF didn't show significant differences statistically according to the wearing positions of backpack(p>.05), but stair descending showed higher forces than that of stair ascending. Particularly, Fz 2 of stair ascending showed higher forces than that of stair descending(p<.001), RT types showed higher than that of FT types(p<.05). MLSI, APSI, VSI, and DPSI of stair descending showed the increased stability index than that of stair ascending(p<.05), MLSI of RT types showed the decreased stability index than that of FT types(p<.05). Loading rate didn't show significant differences statistically according to the wearing positions of backpack(p>.05), but stair descending showed higher loading rate than that of stair ascending(p<.001). Also, ${\Delta}COPx$ in stair descending showed the increased movement than that of stair ascending(p<.05). Conclusions : A backpack of 10 kg(10 kg(ratio of body weights $17.61{\pm}1.17%$) showed significantly change GRF parameters according to wearing positions during stair ascending and descending. If possible, we suggest that the dynamic stability, in case of stairs walking with a smaller weights can be further improved.

• The Journal of Korean Physical Therapy
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• 제25권6호
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• pp.379-385
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• 2013

Purpose: The purpose of this study is to compare kinematics on lower limbs between stair walking with high heel and barefoot in healthy adult women. Methods: 18 healthy adult women were recruited in this study. The subjects performed stair ascent and descent with high heels and barefoot. The experiment was conducted in random order and repeated three times for each stair walking with high heels and barefoot. The movements of lower limb joints were measured and analyzed using a three-dimensional analysis system. Results: The ankle, knee, and hip flexion angles on the sagittal plane exhibited statistically significant differences between stair ascent and descent with high heels and barefoot. The pelvic forward tilt angles showed statistically significant differences only during stair ascent. The ankle inversion, hip abduction and pelvic lateral tilt angles on the frontal plane showed statistically significant differences between stair walking with high heels and barefoot. On the transverse plane, the hip rotation angles showed statistically significant differences between the high-heeled and barefoot gait during stair ascent and descent. However, the pelvic rotation angles showed no statistically significant differences. Conclusion: Therefore, wearing high-heeled shoes during stair walking in daily life is considered to influence lower limb kinematics due to the high heel, and thus poses the risks of pain, and low stability and joint damage caused by changes in the movement of lower limb joints.

• 한국운동역학회지
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• 제27권3호
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• pp.181-187
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• 2017

Objective: The aim of the study was to compare & analyze on the variations of ground reaction force during ascending and descending of bus stair. Method: Simulated wooden stair of bus (raiser: 37.66 cm, width: 109 cm, tread: 29 cm) and GRF system (AMTI-OR-7/ AMTI., USA) was set up within experimental room. Adult female (n=8) performed ascending & descending of simulated bus stair, and variables analyzed consisted of TT (transfer-time), PVF (peak vertical force), LR (loading rate), DR (decay rate), CV (coefficient of variation) and AI (asymmetry index). Sample data from GRF cut off at 1,000 Hz. Results: TT showed shortest variation at phase 1 during descending, but longest variation at phase 1 during ascending of stair. PVF19 (Fz2, 100%) showed large pattern during descending than that of ascending, but rather showed small pattern during ascending of stair in case of PVF2 (Fz4). LR showed larger pattern during descending than that of ascending, but rather during ascending of stair in case of DR. Variation of CV (%) did not show difference between LR and DR, but showed higher possible occurrence of variation during descending of stair. Also AI (%) showed higher index during ascending than that of descending of stair. Conclusion: Because introduction of lowered bus stair has various realistic problems, if lined up at designated bus stopage exactly, rather can solve problems of inconvenience, reduce impulsive force and secure a stability of COG during ascending & descending of stair.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• 한국화재소방학회논문지
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• 제12권4호
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• pp.3-12
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• 1998

이 연구는 인간의 중요한 행동습성 중의 하나언 좌회전숨성윷 건축설계에 고려활 경우, 고총건 불의 지상총 피난계단은 좌회전계판(피난층으로 내려갈 때 좌회전하여 내려가도록 설계원 계딴) 으료 설계하는 것이 재실자가 보다 더 안전하고 빠료게 피난하는 데 효과적이라는 것윷 현장조사 및 실험을 통하여 규명하고자 한 것이다. 2 20충 규모의 고층건불윷 이용하여 펴난자가 펴난총으로 내려갈 때의 펴난속도를 측정한 결과, 오른손잡이의 경우는 좌회전계단의 사용이 우회전계탄(피난층￡로 내려갈 때 우회전하여 내려가 도흑 설계된 계란)의 사용시보다 편하고 빠른 반면, 왼손잡이의 경우는 우회전계란의 사용이 좌회 전계딴의 사용시보다 편하고 빠르다는 것윷 확인하였다, 그려고 우려나라논 94% 이상의 사람이 오른손잡이인 것으로 조사되었다 그러나 현재 우려나라 고층건울의 지상총 펴난계단은 조사결과 7 76% 이상이 우회전계딴임을 알 수 있었다. 이렇게 잘못 설계원 펴난계딴의 실태를 감안해 볼 때 이의 시정을 위해서는 판원볍규의 피난계딴 구조기푼에 고총건물의 지상층 펴난계딴은 좌회전계 딴요로 설계하도록 규정할 펼요가 있다.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Physical Therapy Rehabilitation Science
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• 제7권3호
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• pp.134-138
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• 2018

Objective: The aim of this research was to investigate the effects of functional electrical stimulation (FES) applied to the gluteus medius (Gm) and tibialis anterior (TA) during stair climbing in persons with stroke compared to FES applied to the TA only during stair climbing, and during stair climbing without FES in persons with stroke. Design: Cross-sectional study. Methods: Twenty subjects with stroke participated in this study. Subjects were included if: 1) they were diagnosed as stroke at least 6 months before; 2) had Mini Mental State Examination- Korean score of 24 or higher; 3) were able to climb a flight of 10 stairs independently (with or without walking aid). The patients walked 10 stairs 3 times with FES applied to the Gm and TA, only TA, or no FES. There was a 1-minute rest period between each bout. The assessments were made using the Timed Up & Down Test and the Wii Balance Board. Results: Stair climbing with FES applied to the Gm and TA was significantly faster than stair climbing with FES applied to the TA only and without FES (p<0.05). Stair climbing with FES applied to the Gm and TA exhibited significantly greater sway velocity than stair climbing without FES (p<0.05). However, maximal sway distances were not significantly different between groups. Conclusions: Stair climbing with FES applied to the Gm and TA can be an important component of a rehabilitation program for improving stair climbing ability in persons with stroke.

• 대한물리의학회지
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• 제8권3호
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• pp.397-406
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• 2013

PURPOSE: The Purpose of this study was on determine whether stair gait exercise and lamp gait exercise might increase the gait ability of the patients with stroke METHODS: Fourty five patients with stroke were randomly assigned to plane gait exercise group(n=15) and ramp gait exercise group(n=15) and stair gait exercise group(n=15). During four weeks, each group participated thirty minutes for five times per week. Subjects were assessed using pre-value and post-value measurement gait ability(Step length, Heel to heel base of support, Step time, Double support ratio, Gait velocity). RESULTS: These finding suggest that stair gait exercise group was significant in Step length, Heel to heel base of support, Step time, Double support ratio, Gait velocity(p<.05). And lamp gait exercise group was only significant increase in Step time, Gait velocity(p<.05). In comparison of three group, stair gait exercise group was high gait ability than other two groups(p>.05). CONCLUSION: This study showed stair gait exercise group can be used to improve gait ability than other two groups. Thus it indicates that the stair gait exercise group will be more improved through the continued gait program.

• 대한물리의학회지
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• 제12권1호
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• pp.1-8
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• 2017

PURPOSE: This study was to determine the changes of abdominal muscles activation according to the heel contact methods of stair ascent in healthy young adults. METHODS: 33 healthy young subjects (mean age: $26.37{\pm}9.72$ years, age range: 20-32 years) volunteered under two conditions. They were performed stair ascent with heel contact and without heel contact. The effects of heel contact methods were assessed using the surface electromyography (sEMG) analysis during stair ascent for activation of abdominal muscles (internal oblique; IO, transverse abdominis; TrA, external oblique; EO rectus abdominis; RA). The interventions were conducted over three trials in each method, and measurements were performed on each subject by one examiner in three trials. RESULTS: Our results revealed that there were significantly greater increase in the EMG activation of IO and TrA muscles in the performance of stair ascent with heel contact (p<.05) compared to those of stair ascent without heel contact. The results also showed that there were greater decrease in the ratio of abdominal muscle activation in those of stair ascent with heel contact compared with stair ascent without heel contact. CONCLUSION: These findings demonstrated that the method of stair ascent with heel contact would suggest positive evidence for improving activation of abdominal muscles.