• 대한의용생체공학회:의공학회지
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• 제31권5호
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• pp.344-350
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• 2010

The aim of this study was to investigate the characteristics of the flexion withdrawal reflex modulated during Lokomat treadmill walking in people with spinal cord injury. The influence of the limb position and movement were tested in 5 subjects with chronic spinal cord injury. EMG activities from tibialis anterior and moments of the hip joint elicited by the foot stimulation were examined during Lokomat treadmill walking. To trigger the flexion withdrawal reflex during Lokomat treadmill walking, a train of 10 stimulus pulses was applied at the skin of the medial arch. The TA EMG activity was modulated during gait phase and the largest TA reflex was obtained after heel-off and initial swing phase. During swing phase, TA EMG was 40.9% greater for the extended hip position (phase 6), compared with flexed hip position (phase 8). The measured reflex moment of the hip joint was also modulated during gait phase. In order to characterize the neural contribution of flexion reflex at the hip joint, we compared estimated moments consisted of the static and dynamic components with measured moment of the hip joint. The mean static gains of reflex hip moments for swing and stance phase are -0.1, -0.8, respectively. The mean dynamic gains of reflex hip moments are 0.25 for swing, 0.75 for stance phase. From this study, we postulate that the joint moment and muscle response of flexion withdrawal reflex have the phase-dependent modulation and linear relationship with hip angle and angular velocity for swing phase during Lokomat treadmill walking.

• 융합신호처리학회논문지
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• 제13권2호
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• pp.113-118
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• 2012

기존의 4족 보행 로봇에서의 다리 부착 위치는 말, 사자 등의 동물에서 볼 수 있는 것과 같은 형태로서 사람들에게 익숙한 형태이기 때문에 외관상 자연스러우나 보행의 안정성, 보행의 속도 등 보행의 관점에서는 비효율적인 측면이 있다. 본 논문에서는 자연계에는 존재하지 않는 형태로서 보행이 효율적으로 이루어지도록 네 다리를 몸체에 부착한 형태의 4족 보행 로봇에 대하여 기술한다. 제안된 4족 보행 로봇은 로봇의 진행 방향에 대하여 좌우 다리와 전후다리를 갖는다. 일반적인 구조의 4족 보행 로봇은 정적인 보행을 하기 위하여 항상 세 다리가 지면에 닿아야하고 로봇의 무게 중심을 로봇 진행 방향에 대하여 좌우로 이동시켜주어야 한다. 또한 보행 속도를 높이기 위해서는 두 다리만 동시에 지면에 닿는 동적인 보행을 수행하여야 하는데 이는 제어하기가 쉽지 않고 사용된 모터의 특성에 따라서는 동적인 제어가 불가능할 수도 있다. 반면 제안된 로봇은 정적인 보행에서도 두 다리를 동시에 이동할 수 있어 보행의 안정성과 효율성을 크게 향상시켰다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1764-1766
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• 2007

This paper aims to generate the static walking pattern of a biped robot on stairs and to show the effectiveness of the proposed algorithm using its ankle and pelvis. Differently from the previous biped robots, our biped robot has the peculiar mechanism on its ankle and pelvis. By using this mechanism, we can reduce the load in the knee when a biped robot ascends the stairs. This means that a biped robot can climb up a higher step. The stairs walking trajectory that is separated into a ankle trajectory and a pelvis trajectory is generated by cubic spline interpolation. Finally, we confirm the feasibility of the proposed algorithm through the computer simulation and the real walking experiment.

• The Journal of Korean Physical Therapy
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• 제34권4호
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• pp.181-186
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• 2022

Purpose: This study was to applied to stretching plantar flexor and invertor at the same time to observe the effect of balance and walking ability. Methods: Subjects were instructed patients with ankle limited of motion, 6 months after stroke. We classified 20 subjects into two groups (experimental group: stretching plantar flexor and invertor at the same time, control group: only stretching plantar flexor). each group included 10 subjects and applied ankle stretcher for 20 minutes, 5 times/week during 4 weeks (total 20 times). Results: Both experimental group and control group showed significant increases in static balance, however, the significantly increases in step length and gait speed was observed only in the experimental group. There was no significant increases in step length and gait speed in the control group. Conclusion: Simultaneous stretching of ankle invertor and plantar flexion is effective in improving balance and walking ability in chronic stroke patients.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1440-1443
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• 2004

Most previous robots had used the wheels as means for movement. These structures were relatively simple and easy to control and this is why the method had been used until currently. However, there are many realistic problems to move from one place to another in human life, for instance, steps and edges. So we need to develop the two-legged walking humanoid robot. The 2-legged walking Robot system has been vigorously developed in so many corporations and academic circles of several countries. However, 2-legged walking Robot has been mostly studied in view of the static walk. We design a stable humanoid Robot which can walk in high-speed through the research of the dynamic walk in this paper. Especially, worldwide companies have been interested in developing humanoid robots for a long time to solve the before mentioned problems so that they can become more familiar with the human form. The most important thing, for the novel two-legged walk, is to create a stable and fast walking in two-legged robots. For realization of this movement, an optimal mechanical design of 12 DOFS, a distributed control and a parallel processing control are implemented in this paper. This paper proves that high speed and stable walking can be achieved, through experiments.

• 국제물리치료학회지
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• 제9권1호
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• pp.1398-1405
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• 2018

The purpose of this study was to investigate the effect of heel off stairway walking exercise on the increase of muscle activity and balance activity of the ankle joint muscles in university students with functional ankle instability. The conservative treatment for the control group consisted of stairway walking (n=10) and the experimental group consisted of heel off stairway walking (n=11). The therapeutic intervention of the control and experimental groups was performed a total of 12 exercise sessions, 3 times per week for 4 weeks. To compare the two groups, the level of ankle disability was assessed by using the EMG, BT4 and Pedoscan in pre-treatment and post-treatment. Muscle activity increased in both the experimental groups and control groups in each group, however there was no significant difference between the groups. Balance ability did not show any significant difference. This study demonstrates that heel-off stairway walking is effective in significantly increasing muscle activity, however did not significantly improve balance ability.

• 한국전문물리치료학회지
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• 제18권1호
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• pp.18-27
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• 2011

This study was to investigate the positive effects of specially designed trunk-stabilization exercise program on lower extremity balance of elderly with history of leprosy. In this participants, lower extremity functions has been undermined by the development of damage in peripheral nerves. A total of 40 elderly with history of leprosy were divided into 2 groups of equal size ($n_{1,\;2}=20$): a group that participated in the exercise program, and a control group that did not exercise but did continue to engage in normal daily activities (including walking). The exercise group exercised for 60 minutes 2 days a week for 12 weeks. Static balance ability was measured by asking study participants to a one leg standing test: dynamic balancing ability was measured with a tandem walking test and a timed up-and-go test. The participants in the exercise program and the control group were tested before and after completion of the exercise program for comparison, and then divided according to their ability to feel sensory in the soles of their feet into the categories of normal sensory group: group with sensory loss in one foot: and group with sensory loss in both feet. The participants in the exercise program showed a positive, statistically significant difference in static balance compared with the control group (p<.05) as measured using the one leg standing test. Similarly, the participants in dynamic balance (p<.05) as measured using the tandem walking and timed up-and-go tests. Finally, these improvements were related to the severity of sensory loss in the soles of the feet for all study participants.

• 한국운동역학회지
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• 제26권1호
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• pp.115-126
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• 2016

Objective: The purpose of this study was to investigate plantar foot pressure and static balance according to the type of insole in the elderly. Methods: Thirteen elderly (mean age: $67.08{\pm}2.25years$, mean height: $159.63{\pm}9.64cm$, mean body weight: $61.48{\pm}9.06kg$) who had no previous injury experience in the lower limbs and a normal gait pattern participated in this study. Three models of insoles of the normal, 3D, and triangle types were selected for the test. The Pedar-X system and Pedar-X insoles, 3.3 km/h of walking speed, and a compilation of 20 steps walking stages were used to analyze foot-pressure distribution. Static balance test was conducted using Gaitview AFA-50, and balance (opening eyes, closing eyes) was inspected for 20 s. One-way ANOVA was conducted to test the significance of the results with the three insoles. p-value of less than .05 was considered statistically significant. Results: The mean foot pressure under the forefoot regions was the lowest with the 3D insole during treadmill walking (p<.05). The mean value under the midfoot was the highest with the 3D insole (left: p<.05, right: p<.01). The mean value under the rearfoot was the lowest with the 3D insole (p<.001). The maximum foot pressure value under the foot regions was the lowest on both sides of the forefoot with the 3D insole. A statistically significant difference was seen only in the left foot (p<.01). The maximum value under the midfoot was the highest with the 3D insole (p<.001). No statistically significant difference was detected on the values under the rearfoot. In the case of vertical ground reaction force (GRF), statistically significant difference was seen only in the left side rearfoot (p<.01). However, static balance values (ENV, REC, RMS, Total Length, Sway velocity, and Length/ENV) did not show significant differences by the type of insole. Conclusion: These results show that functional insoles can decrease plantar pressure and GRF under the forefoot and rearfoot. Moreover, functional insoles can dislodge the overload of the rearfoot and forefoot to the midfoot. However, functional insoles do not affect the static balance in the elderly.

• The Journal of Korean Physical Therapy
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• 제13권2호
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• pp.381-397
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• 2001

In the patients with hemiplegia caused by stroke and TBI. postural sway is increased and open displaced laterally over the non-affected leg, reflecting asymmetry in weight bearing on lower extremities during standing balance. Recovery of symmetric weight bearing and postural stability is an important aim in physical therapy. Plastic AFO has been used for hemiplegic patients in order to help their abnormal walking patterns. Past studies have mainly focused on the AFO influences on hemiplegic walking patterns without balance function approaches. The purpose of this study was to identify the immediate effects of plastic AFO and shoes on the static balance in hemiplegic patients. The scale for static balance were weight bearing on affected leg(%), sway area(mm2), sway path(mm), maximal sway velocity(mm/s), anteroposterior sway angle($^{\circ}$ ), and lateral angle($^{\circ}$ ). Seventeen hemiplegic patients participated in this study: 13 men and 4 women, with an average age of 50.18 years. Static balance was measured using BPM(balance performance monitor; dataprint software version 5.3) under four standing condition namely bare-foot standing. standing in shoes, standing with AFO, and standing in shoes with AFO. In order to assure the statistical significance of the results, an one-way ANOVA, the independent t-test. and a pearson's correlation were applied at the .05 level of significant. The results of this study were as follows: 1) There were statistically significant differences in weight bearing(%) on the static balance between affected leg and non-affected leg(p<.01). 2) There were statistically significant differences in sway reverse frequence(Hz) in standing with AFO between affected leg and non-affected leg(p<.05). 3) Sway area(mm2) on standing in shoes with AFO was lower than bare-foot standing(p<.05), Lateral sway angle($^{\circ}$ ) on standing in shoes with AFO was lower than bare-foot standing and standing in shoes(p<.05). 4) Weight bearing in affected leg was not significantly correlated with postural sway.

• 대한물리치료과학회지
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• 제26권3호
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• pp.70-75
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• 2019

Purpose: The purpose of this study was to investigate the changes of static and dynamic balance control ability according to the stability of shoes in elderly woman and female university student. Design: Cross-sectional study. Methods: Six elderly women and seven female university students were recruited for this study. The subject's static and dynamic balance were evaluated while wearing two different types of shoes (comfortable running shoe and masai walking shoe). The BT4 system was used to measure the static (postural sway area and velocity) and dynamic balance (limit of stability on forward, backward and left and right side). The measurement of static and dynamic balance control ability was performed in standing posture wearing comfortable running shoes and masai walking shoes. Results: In the static balance control ability, both female university students and elderly women showed significant increase in postural sway area and velocity when wearing unstable shoes (p<0.05) In addition, in the dynamic balance control ability, both female university students and elderly women showed significant decrease in limit of stability on forward and backward when wearing unstable shoes (p<0.05). Conclusion: In selecting shoes for the elderly, the stability of shoe should be considered for prevention of falls.