• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.42-42
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• 2000

This paper concerns an efficient aperiodic static crab walking algorithm for quadruped walking machine in rough terrain. In this algorithm, the requirements for forward stability margin and backward stability margin could be given differently in order to consider the slope of terrain and disturbances resulting from moving velocity. To restrict the searing regions for motion variables, such as moving distances until a leg is lifted or is placed, the standard leg transferring sequence is decided to be that of wave gaits. standard support pattern is also proposed that enables the quadruped to continue forward motion using the standard leg transferring sequence without falling into deadlock.

• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.421-429
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• 2022

Objective: The purpose of this study was to compare and analyze the effects of arch support taping on static balance, static/dynamic foot contact area, and ground reaction force during walking according to the types of elastic tapes with mechanical elasticity differences. Design: Cross-sectional study Methods: Twenty-six participants selected for flexible flat feet through the navicular drop test were randomly assigned to non-taping, Dynamic-taping, and Mechano-taping conditions. Static balance and foot contact area were compared in the standing posture according to arch support taping conditions, and foot contact area and ground reaction force were compared during walking. Results: There was no significant difference in static balance according to the taping condition in the standing position, but the foot contact area in the Mechano-taping condition showed a significant decrease compared to the non-taping condition (p<0.05). The foot contact area during walking significantly decreased in the Dynamic-taping and Mechano-taping conditions (p<0.05), but there was no significant difference between the ground reaction force. Conclusions: Based on the results of this study, it was confirmed that among the types of elastic taping, arch support taping using dynamic taping and Mechano-taping has the effect of supporting the arch with high elastic recovery. Any type of elastic tape can be used for arch alignment in flexible flat foot.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• The Journal of Korean Physical Therapy
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• v.25 no.1
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• pp.23-28
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• 2013

Purpose: The purpose of this study was to examine the influence of a handrail (presence and position) on treadmill gait and balance in stroke patients during gait training. Methods: 39 patients with stroke (male 31, female 8) participated in this study. The training groups were classified into a no-handrail group (NHG), front handrail group (FHG), and bilateral handrail group (BHG). Each group comprised 13 subjects. The subjects were trained to walk in a straight path 30 minutes per day for 8 weeks. The Good Balance System was used to measure static balance and dynamic balance. To measure walking ability, timed up and go (TUG) was also assessed. Results: The NHG showed no significant differences in static balance, dynamic balance, and TUG. The FHG was significantly different in their medial-lateral speed of static balance, dynamic balance, and TUG. The BHG was significantly different in their static balance, dynamic balance, and TUG. Conclusion: These findings consider the effects of holding handrails concomitantly with changes in postural stability. We conclude that for training stroke patients, treadmill walking while holding handrails improves balance and gait more than treadmill walking without holding handrails. The resulting changes in muscle activity patterns may facilitate the transfer to a gait pattern. The results of this study suggest methods for training treadmill walking in stroke patients.

• PNF and Movement
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• v.10 no.4
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• pp.71-76
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• 2012

Purpose : The purpose of this study was to examine the effects of PNF of irradiation using an indirect treatment of the stroke patient's static weight support and walking speed. Methods : Was carried out a total of nine different the PNF method of treatment for patients with left hemiplegia stroke. PNF of treatment is not in the non-paralyzed side of the trunk and upper and lower extremities by applying resistance and increased strength of the affected side. Assessment of treatment weight support both feet measured and modified using the timed up and go test were compared before and after treatment. Results : Treatment of the paralyzed side of the quadriceps and hamstring, gluteus medius muscle strength increased, and both sides of the foot body weight support improved walking speed was increased. Conclusion : Irradiation using PNF indirect treatment improves the function of the gait of stroke patients.

• Korean Journal of Applied Biomechanics
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• v.21 no.2
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• pp.123-129
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• 2011

The purpose of this study was to compare and analyze the effect of twelve-week Taekwondo and walking exercises on the double-leg balance control by dividing elderly females into Taekwondo, walking exercise and control groups. In total, 30 elderly females were randomly divided into Taekwondo, walking exercise, and control groups, with 10 subjects in each group. Subjects participating in this study were 10(age $69.4{\pm}5.8$ years), 10(age $71.4{\pm}7.6$ years) and 10(age $70.6{\pm}4.8$ years) in the three groups, respectively. Although the AP measures were not significantly different among the groups and times, the ML RMS distance and ML velocity, among the ML measures showed a significant difference among the groups and times. Average velocity and 95% confidence ellipse area were also significantly different among the groups and times. Twelve-week Taekwondo and walking exercises were found to be effective in improving static balance control. Future studies on the development of a Taekwondo intervention program tailored for the elderly with many subjects conducted by using a long-term training program are expected.

• The Journal of Korean Physical Therapy
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• v.33 no.6
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• pp.272-277
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• 2021

Purpose: The purpose of this study is to confirm the effect of static stretching of the plantar flexor for 5 minutes on balance and ankle muscle activity when walking in young adults. Methods: This study experimented on 20 healthy college students without vestibular and musculoskeletal diseases. Subjects performed static stretching intervention of plantar flexor for 5 minutes on a stretch board set at 15° to 25° Balance was measured four times before intervention (pre), after intervention (post), 5 minutes after intervention (post 5 min), 10 minutes after intervention (post 10 min), and ankle muscle activity was measured during walking. For the analysis and post hoc analysis, one-way Repeated Measure ANOVA and Fisher's LSD (Last Significant Difference) was performed to find out the change in balance and the activity of ankle muscles before static stretching, pre, post, post 5 minutes rest, post 10 minutes rest. Results: There was no significant difference in weight distribution index (WDI) in balance, but stability index (ST) showed a significant difference, and there was also a significant difference in correlation pre, post, post 5min rest, post 10 minutes rest (p<0.05). There was no significant difference in ankle muscle activity during walking in Tibialis anterior (TA), Medial gastrocnemius (GM), and Lateral gastrocnemius (GL) (p>0.05). Conclusion: The stability index (ST) increased significantly immediately after static stretching and decreased after 5 minutes. After static stretching, at least 5 minutes of rest are required to restore balance.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.143-150
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• 2012

Purpose: This study was intended to discover the effect of the turning training on figure of 8 tract on stroke patients' static and dynamic balance, as well as walking. Methods: A total of 42 stroke patients participated in this study. The training group was trained on the figure of 8 tract, while the control group was trained on the straight path for 30 minutes per day, for 4 weeks. Berg balance scale was used to measure the balance of the patients, before and after the training, and Good balance system was used to measure the sway speed and the distance of COG while standing. To measure the ability of walking, TUG and FSST were also used. Results: There were significant increases in the average score of Berg balance scale, in both groups after the training, and also significant difference between both groups were observed. The training group showed significant differences in the static balance ability, as well as anteroposterior and mediolateral sway speed. Further, there were significant increases in the dynamic balance ability, COP total distance, and TUG in both groups. The results showed more differences in comparing the control group with that of the training group. In FSST, there was no change in the control group, but there was a significant increase in the training group. Conclusion: Turning training on figure of 8 tract in stroke patients significantly increased the static and dynamic balance and walking ability. Based on the results, it can be seen that the training on the figure of 8 tract can influence the ability of balance and walking, which can lead to appropriate reactions to the change of environment and various tasks. Thus, it is assumed that turning training on figure of 8 tract as a means of improving the condition of stroke patients can be a meaningful program.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.82-90
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• 2008

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.8
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• pp.675-679
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• 2001

This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.