• 대한기계학회논문집A
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• 제24권1호
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• pp.118-123
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• 2000

Most quadruped walking robots under current research are individually controlling every joint ic make them step or walk according to an integrated strategy. Such methods are characterized by at least one pair of an actuator and a sensor installed per each 'oint so that the robots weigh execssively and move inefficiently in terms of energy expenditure. In addition, the task of controlling all the joints simultaneously is quite complex and prone to destabilize the robot motion. These respects keep the existing walking robots away from realistic applications such as transportation even if they have potentially, outstanding adaptability to swamps or uneven terrains as opposed to wheeled vehicles. So, this paper presents a new conceptual quadruped robot developed to walk and steer only with a minimal number of actuators owing to a closed-chain mechanism. To prove its actual performance including the adaptability to various types of terrains. experiments are done with the mammal-type prototype. And. it is also shown that the same concept can be easily extended to carry out different gait forms. for instance, that of spiders only with minor modifications.

• 대한물리의학회지
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• 제7권1호
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• pp.69-75
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• 2012

Purpose : The study was designed to investigate analysis of kinematics of lower extremity in healthy adults during walking with external loads on trunk. Methods : Fifteen healthy adults were recruited and The subjects provided written and informed consent prior to participation. They walked on a ten-meter walkway at a self-selected pace with loads of 0, 5, 10, and 15kg. They completed three trials in each condition and kinematic changes were measured. A three-dimensional motion analysis system was used to analyze lower extremity kinematic data. The data collected by each way of walking task and analyzed by One-way ANOVA. Results : There were significant differences in hip and knee joint on saggittal plane at initial contact and preswing, and significant differences in ankle joint on transverse plane at preswing. Conclusion : These findings revealed that increased external loads were changed joint angles and influenced postural strategies because of kinematic mechanism and future studies is recommended to find out prevention from damage of activities of daily living.

• Physical Therapy Rehabilitation Science
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• 제6권2호
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• pp.96-104
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• 2017

Objective: The purpose of this study was to investigate the effect of the hip joint strengthening exercises using proprioceptive neuromuscular facilitation (PNF) on the clinical symptoms and the treatment effects in balance, sit to stand, and gait abilities in patients with TBI. Design: A single case study. Methods: A 13-year-old adolescent with quadriplegia and hip joint control impairment participated in this four-week training intervention. The patient, diagnosed with TBI, wastreated with hip joint strengthening exercises using PNF. In the first week, we focused on strengthening the body, relaxing the hip flexors and activating the hip extensor muscles in order to solve the patient's physical function and body structure. From the 2nd and 4th week, we improved the motivation through the task-oriented method, and then weight-bearing training of the right lower extremity was proceeded by kicking a soccor ball with the left lower extremity. The exercises were performed for 4 weeks, 5 days a week, for 60 minutes with the exercise intensity gradually increased according to the subject's physical abilities. Results: As a result of the study, the patient demonstrated improvements in the physical examination, which were evaluated before and after intervention and included the manual muscle test, modified Ashworth scale, sensory assessment, coordination assessment, Berg balance scale, 5-time sit to stand test, and the 10 meters walk test. Conclusions: The results of this case suggest that a hip joint strengthening exercise program using PNF may improve hip control ability, balance, sit to stand and gait ability in a patient with TBI.

• 한국전문물리치료학회지
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• 제13권4호
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• pp.79-86
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• 2006

The purpose of the current experiment was to describe interlimb coordination when swing limb conditions are being manipulated by constraining step length or by adding a 5 or 10 pound weight to the swing limb distally. Subjects were asked to begin walking with the right limb to land on the primary target (normal step length) that is 10 cm in diameter. However, if, during movement, the light was illuminated, then the subject had to step on one of the secondary targets (long and short step length). These three step length conditions were repeated while wearing a 5 pound ankle weight and then when wearing a 10 pound ankle weight. Ground reaction force (GRF) data indicated that there were changes in the forces and slopes of the swing and stance Fx GRFs. Long stepping subjects had to increase the propulsive force required to increase step length. Consequently, swing and stance toe-off greatly increased in the long step length condition. Short step length subjects had to adequately adjust step length, which decreased the speed of gait initiation. Loading the swing limb decreased the force and slope of the swing limb. Swing and stance toe-off was longest for the long step length condition, but there was a small difference of temporal events between no weight and weight condition. It appears that subjects modulated GRFs and temporal events differently to achieve the peak acceleration force of the swing and stance limb in response to different tasks. The findings from the current study provide preliminary data, which can be used to further investigate how we modulate forces during voluntary movement from a quiet stance. This information may be important if we are to use this or a similar task to evaluate gait patterns of the elderly and patient populations.

• 재활치료과학
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• 제5권1호
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• pp.23-32
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• 2016

목적 : 본 연구는 이중과제 훈련을 뇌졸중 환자에게 적용하여 미치는 효과를 살펴본 국외 연구에 대해서 분석하는 것이다. 연구방법 : 2007년부터 2015년까지 국외 학회지에 게재된 논문을 Pubmed를 통하여 검색을 실시했다. 분류 및 선정과 배제조건을 통해 총 5개의 실험연구 논문을 포함논문으로 선정하였다. 결과 : 선정된 5편의 문헌은 모두 사전사후 대조군 설계로, PEDro score은 6점 이상으로 높은 편에 속했다. 사용된 중재에서 채택된 운동과제는 모두 보행과제였으며, 인지과제는 다양한 과제를 포함하여 범위가 넓었다. 사용된 평가도구는 표준화된 평가도구부터 조작적 정의에 의한 평가가 사용되었고, 더 나아가 이중과제 훈련을 위하여 고안된 평가도구도 포함되어 다양한 측면을 평가하는 것이 가능하였다. 고찰 : 본 연구를 통하여 이중과제 훈련이 뇌졸중 환자의 운동 및 인지기능의 향상 뿐 만 아니라 이중과제 수행에 긍정적인 영향을 주는 것을 확인할 수 있었지만, 이와 같은 결과를 통하여 현재까지 진행된 뇌졸중 환자 대상의 이중과제 훈련의 제한점 또한 알 수 있었다. 이러한 결과는 작업치료 분야에 적용을 위하여 보완점을 제시하는 기초자료로서의 역할과 효과적 치료를 알리는 데 도움이 될 것으로 사료된다.

• Physical Therapy Rehabilitation Science
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• 제4권1호
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• pp.44-48
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• 2015

Objective: The purpose of this study was to investigate the relationship between anticipatory postural adjustment (APA), single task, dual tasks and physical performances. The trunk muscles of APA consist of bilateral erector spinae (ES) and bilateral internal oblique (IO) adnominal muscles, during rapid stepping with the affected or unaffected leg in a sitting posture. Design: Cross-sectional study. Methods: In patients with chronic stroke, electrodes of surface electromyography (EMG) were attached on the bilateral erector spinae (ES), bilateral internal oblique adnominal (IO), and bilateral rectus femoris (RF) muscles. RF acts as the prime mover. The stroke patients performed hip flexion until $20^{\circ}$ as fast as possible at each leg in a sitting posture according to a visual cue. The visual cue unexpectedly appeared on monitor in front of the stroke patient. The single task was the Timed Up and Go (TUG) test. The dual tasks were the TUGconitive, which increased cognitive capacity, and the TUGmanual task, which had an external focus. Results: All EMG data showed earlier onset latency before the prime mover. In affected leg raising, the onset time of unaffected ES muscle of the stroke patients was correlated with the single and dual tasks (p<0.05). In unaffected leg raising, the onset time of the affected IO muscle was related to all the tasks (p<0.05). Gait speed showed a relationship with the unaffected ES muscle only. Conclusions: The trunk muscles of the bilateral ES and bilateral IO play an important role in APA. The single and dual tasks using TUG test were correlated with the APA s of ES and IO muscles. Dual task by the TUG test is a good measuring tool for reflecting the real life in patients with chronic stroke.

• Physical Therapy Rehabilitation Science
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• 제3권2호
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• pp.134-141
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• 2014

Objective: The purpose of this study was to compare with different distance across three conditions in stroke survivors with the grading of cognitive state. Design: Cross-sectional study. Methods: Twelve stroke patients who agreed to active participation were included. Participants were allotted to normal cognitive (CN) group (n=7) and cognitive impairment (CI) group (n=5) and then walked on a self-paced walkway at three conditions on the Time Up and Go (TUG) test and the 6 minute walk test (6MWT): 1) walking with your comfortable speed, 2) walking while carrying a tray with glasses, 3) walking with a verbal cognitive task. The TUG test was repeated three successful times on each condition. For the 6MWT, participants were tested one time. Results: The CI group walked slower than the CN group at the three conditions on the TUG test. However, there was no significant difference between two groups to each condition. A significant effect of dual tasking was found only in error of verbal cognitive task condition for the TUG test (p<0.05). On the 6MWT, the participants in the CI group walked short distance rather than the CN group (p<0.05). There were significant differences between two groups not only at all conditions but also at error of verbal cognitive task condition as well (p<0.05). Conclusions: To consider the results of different distances such as the TUG test and the 6MWT, we think that exercises in long distance would be more effective to patients with CI. Those would be improved patient's endurance in cognitive problem.

• Physical Therapy Rehabilitation Science
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• 제10권4호
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• pp.493-502
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• 2021

Objective: Older adults with mild cognitive impairment (MCI) are more likely to progress to dementia. Motor-cognitive training is applied as a dual-task to improve the cognitive and physical functions of older adults with MCI. The purpose of the study was to know the recent trends in motor training types and outcome measures used for motor-cognitive training in older adults with MCI. Design: Aliterature review Methods: This literature review was conducted in Pubmed, MEDLINE® and Google Scholar with the following key words: older adults, mild cognitive impairment, motor-cognitive training, cognition, and dual-task. The 7 studies were found with the search tool and all studies were randomized controlled trials. Results: In motor-cognitive training in older adults with MCI, 6 studies applied aerobic exercise. And 3 out of 6 studies also applied strengthening exercises. One study applied dual tasks without aerobic exercise. In the 6 studies, overall cognitive and executive function were used as outcome measures, and physical function was evaluated as gait performance. Memory and physical frailty were also used as measurement tools. As a result of all studies, when motor-cognitive training was applied, cognition and physical performance showed significant results. Conclusions: A recent five-year study applied mainly aerobic exercise and strength training to older adults with MCI and found it to improve cognitive and physical performance.

• 한국전문물리치료학회지
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• 제9권4호
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• pp.1-11
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• 2002

본 연구의 목적은 이중과업 방법론(dual task methology)을 사용해서 젊은 사람과 노인을 대상으로 독립된 두 사건(two separate concurrent events)을 동시에 수행하는데 요구되는 주의력에 대한 분석과 노인에서의 특징적 차이를 찾는 것이다. 본 실험은 대상자가 힘판(force plate) 위에서 장애물(10cm) 보행시에 경피자극(cutaneous stimulation)에 대하여 마이크로 스위치(micro-switch)를 사용하여 반응하면서 시행되었다. 힘판과 시간(temporal events) 그리고 반응시간(reaction time)에 관한 자료들은 1000 Hz의 주파수로 수집되었다. 반응시간은 대상자들이 서 있는 상태(baseline) 장애물 보행시(dual task)에서 수집되었다. 반응시간은 아중과업 조건에서 대상자 모두에게서 긴 것으로 나타났으며 특히 노인에서 정상 성인보다 반응시간이 긴 것으로 나타났다. 이중과업 조건 하에서 노인 대상자가 정상 성인에 비해 발가락이 장애물에 닫지 않고 통과할 수 있는 공간, 즉 토우 클리어런스( toe-clearance)와 슬관전 굴곡(knee flexion) 각도가 훨씬 큰 것으로 나타났다. 이중과업 조건하에서 모든 대상자가 족관절 배측굴곡(ankle dorsiflexion) 각도를 감소시키는 것으로 나타났다. 노인들은 젊은 대상자들보다 훨씬 더 긴(124 ms) 유각시간을 보여 주었으며 정상 장애물 보행시 유각 시간은 이중과업보다 50 ms 긴 것으로 나타났다. 이러한 보행 특성의 차이는 노인대상자들이 젊은 대상자들보다 장애물 보행시에 이중과업의 영향을 더 받았기 때문인 것으로 판단된다. 이중 과업 시행시 이러한 토우 클리어런스의 감소와 장애물 통과시에 보행 속도의 증가는 아마도 낙상의 가능성을 증가시키는 요인이 될 수 있는 것으로 보여진다. 본 연구의 결과는 다중과업(multitasks)을 필요로 하는 보행 훈련 프로그램(gait training program)의 개발과 시행에 있어서 기초적인 자료를 제공할 수 있는 것으로 보여진다.

• 대한물리의학회지
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• 제18권2호
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• pp.41-48
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• 2023

PURPOSE: Falls are caused by a decline in physical and cognitive function. A quantitative evaluation tool that can comprehensively evaluate motor and cognitive functions for elderly people with an impaired physical function. This study assessed the clinical application potential by confirming the correlation between the physical function tests, cognitive and the stepping trail-making test (S-TMT). METHODS: Fourteen community-dwelling older patients (65-75 years) were recruited. The study conducted cognitive function tests with the trail-making test (TMT-A, B), and physical function tests (6-minute walking test (6MWT), short physical performance battery (SPPB), and timed up and go (TUG)). The results of were analyzed using SPSS version 21.0. Descriptive statistics were used for the general characteristics of the study subjects, and the correlations between S-TMT, other functional tests were examined through Pearson's correlation analysis. The statistical significance was set to .05. RESULTS: S-TMT had a significant positive correlation with the TUG (r = .588^*) and trail-making test-B (TMT-B) (r = .689^*, p < .05). Furthermore, S-TMT showed a negative correlation between SPPB (r = -.397) and 6MWT (r = -.422), but it was not statistically significant. CONCLUSION: S-TMT is a cognitive-gait dual-task performance evaluation tool that can be performed safely. A significant correlation was confirmed between the TUG test and the TMT-B. S-TMT is a dual-task screening tool that can evaluate both physical and cognitive functions simultaneously.