• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• 전자공학회논문지B
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• 제28B권11호
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• pp.886-896
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• 1991

In this paper a new turning gait is proposed for a quadruped walking robot. The proposed scheme makes it possible to control the translation and orientation of the walking robot simultaneously. At first the feasible leg sequences which can guarantee a positive longitudinal gait stability margin for each direction of movement are found. A method for finding the lifting time of each leg of a feasible leg sequince and selecting an optimal gait among feasible gaits is then suggested. The proposed gait can be appled to control the posture of walking robots and to generate an optimal gait for a desired movement of translation and rotation of the walking robot systematically.

• 인간행동과 음악연구
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• 제5권1호
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• pp.1-17
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• 2008

본 연구는 신경학적 음악치료의 한 방법인 RAS가 편마비 환자의 회전과 직선보행 시 보행요소에 어떠한 영향을 미치는지를 살펴보고자 하였다. 연구는 음악치료소거와 개입의 차이를 4주간 비교하는 반복측정 설계로 디자인되었고 측정 보행요소에 대해 21가지로 세부 항목화 하였다. 연구의 대상은 보행훈련이 필요한 4명을 물리치료사에게 의뢰받았으며, 사용된 음악은 행진곡, 가곡을 중심으로 연구자가 선택하였다. 각 세션은 워밍업, RAS보행훈련, 마무리로 구성되었다. RAS보행훈련에서 사용된 음악들은 음악치료처치 전 측정한 각 환자의 본래 보행속도에 맞추어진 빠르기로 제공되었다. 속도는 점차적으로 빠르게 제공하였으며 각 세션이 50분간 진행되었다. 연구결과 음악치료 소거구간(A)보다 음악치료처치구간(B)에서 보행능력이 증가됨을 관찰할 수 있었고, 다른 치료가 음악치료와 병행될 때 환자들의 보행능력 향상에 더욱 긍정적인 영향을 준다는 선행연구를 지지하는 결과를 보였다. 또한 본 연구는 RAS음악치료처치가 직선보행 시 뿐만 아니라 회전보행 시 보행능력 향상에 도움을 준다는 것을 보여준다는 의의를 가진다.

• 한국전문물리치료학회지
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• 제23권2호
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• pp.11-19
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• 2016

Background: In the stroke patients with the characteristics of hemiplegic gait, turning direction of the affected and unaffected side influences turning time. Therefore, it is important to investigate the walking response to turning directions in stroke patients. Objects: This study aimed to measure the walking time while turning direction in hemiplegic patients depending on balance ability measured by Berg Balance Scale. Methods: A group of forty-five subjects with stroke (Berg Balance Scale score${\geq}46$ were twenty-eight, Berg Balance Scale score${\leq}45$ were seventeen) were enrolled in this study. Subjects were asked to perform the Timed Up and Go test. Testing indications included two directions for turning in each subject. These indications were for turning toward the affected and unaffected side in stroke patients. The duration of total analysis duration, sit to stand phase, stand to sit phase, mid-turning phase, and end turning phase were recorded. The obtained data were analyzed by using paired t-test and Wilcoxon signed rank test in the group that are below and above 45 points of Berg Balance Scale score. The significance level was set at ${\alpha}=.05$. Results: There were significant increase time in the analysis duration and end turning phase duration while subjects were turned the unaffected side in stroke patients that presented a Berg Balance Scale score${\leq}45$ (p<.05). However, the comparison between the affected side and the unaffected side in the stroke patients with Berg Balance Scale score${\geq}46$, revealed no significant differences of the measured parameters. Conclusion: This finding should be suggested in the specific definition of turning direction for evaluation with Timed Up and Go test in the Berg Balance Scale score${\leq}45$, and other intervention for hemiplegic patients need to be suggested the direction of turning during walking training program.

• 대한간호학회지
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• 제30권5호
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• pp.1318-1332
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• 2000

The purpose of this study was to determine the effect of walk training on leg strength, flexibility, postural stability, balance and gait in home bound elderly women. Eighteen elderly women of the experimental group aged between 70 and 90 years image who have normal vision, hearing and Romberg test. They participated in the 12 week walk training. The subjects of the experimental group practiced walk training 3 times a week for during 12 weeks. During the 40 minute workout, the subjects practiced 5 minutes of warming-up exercises, 30 minutes of conditioning exercises and 10 minutes of a cool-down exercise. The intensity for the conditioning phase was determined by subject' heart rates, which ranged from 60% to 70% of age-adjusted maximum heart rates. The body composition, leg strength, flexibility, postural stability, balance and gait were measured prior to and after the experimental treatment. The body fat, lean body mass, leg strength (ankle dorsiflexor, plantarflexor, inversor and eversir, knee flexor, extensior), flexibility (range of motion of ankle dorsiflexion, plantarflexion, inversion and eversion), and postural stability of the experimental group were significantly greater than those of the control group. Duration of standing on the right foot and that of standing on the left foot of the experimental group was greater than that of the control group. Total balance scores of the experimental group were significantly higher than those of the control group. Among 13 items for balance, the scores of experimental group in balance with eyes closes, turning balance, sternal nudge, neck turning, one leg standing balance and back extension were higher than those of the control group. Total scores of gait of the experimental group were significantly higher than those of the control group following the walking training. Scores of experimental group in step height, step length and walk stance while walking among 9 items for gait were significantly higher than those of the control group. The results suggest that walk training can improve physical fitness for prevention in home bound elderly women.

• PNF and Movement
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• 제19권3호
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• pp.435-440
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• 2021

Purpose: The purpose of this study is to investigate the effects of older adult's head-turn gait on gait parameters by comparing with head oriented forward gait and to provide criteria for their risk of falling compared to young adult. Methods: The subjects were 19 young adults in their 20s and 18 older adults in their 60s or above residing in Daegu or Gyeongsangbuk-do. To evaluate their gait parameters, spatiotemporal gait parameters were measured using a gait analysis tool (Legsys, BioSensics, USA) under two conditions: 1) walking while keeping one's eyes forward and 2) walking while turning the head. The measurement for each test was performed after one practice session, and the mean value of three measurements was analyzed. The collected data were statistically processed using a two-way analysis of variance (ANOVA) to compare any differences in gait parameters between the two groups under the two conditions. The statistical significance level was set at α=0.05. Results: According to the comparison of gait parameters in young adult and older adult between the head oriented forward gait and head-turn gait, statistically significant differences were observed in two parameters: stride length according to the height ratio and stride speed obtained by dividing the stride length according to the height ratio by time (p<0.05). Conclusion: The results of this study indicate that the head-turn gait causes greater differences in stride length and speed among older adult than in young adult and therefore can act as a cause of falling.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.315-322
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• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• 재활복지공학회논문지
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• 제10권4호
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• pp.251-257
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• 2016

소아균형검사(Pediatric Balance Scale)는 경증이나 중증의 운동손상을 지닌 학령기 아동에게 사용할 수 있는 균형검사도구이다. 본 연구의 목적은 경직성 양하지 뇌성마비 아동을 대상으로 소아균형검사와 시공간적 보행변수간의 상관관계를 알아보고자 하였다. 소아균형검사는 앉은 자세에서 일어나기, 선 자세에서 앉기, 의자에서 의자로 이동하기, 잡지 않고 서 있기, 한 다리로 서 있기, 제자리에서 $360^{\circ}$ 회전하기, 뒤돌아보기 등 총 14개 항목으로 구성하고, 시공간적 보행변수는 보행속도 및 보폭, 보거리, 보격, 분속수, 양하지 지지 시간을 포함한다. 모든 대상자들은 독립적으로 보행이 가능한 경직성 양하지 뇌성마비 아동이며, 숙련된 소아물리치료사에 의해 소아균형검사와 시공간적 보행변수를 측정하였다. 소아균형검사와 시공간적 보행변수 간의 상관관계를 분석하기 위해 피어슨 상관분석을 사용하였고, 통계학적 유의수준은 0.05로 설정하였다. 소아균형검사의 총점(r=.49~.58)과 세부항목 중 선 자세에서 앉기(r=.48~.60)와 선 자세에서 왼쪽/오른쪽 어깨 뒤로 돌아보기(r=.47~.53), 선 자세에서 바닥에 물건 집어 들기(r=.52~.69)는 보행속도와 보폭, 보거리, 분속수의 각 변수 사이에 모두 유의한 양의 상관관계를 보였으며, 소아균형검사의 대부분 항목이 양하지 지지 시간 간의 매우 높은 음의 상관관계(r=-.48~-.92)를 보여주고 있다. 이는 소아균형검사와 시공간적 보행변수는 높은 상관관계를 가진 것을 관찰 할 수 있었으며, 소아균형검사를 통해 뇌성마비 아동의 보행수준을 예견하는데 유용하게 적용될 것이다.

• ETRI Journal
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• 제35권6호
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• pp.1029-1037
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• 2013

This paper introduces a novel and fast synthesizing method for 3D motions of quadrupedal animals that uses only a small set of motion capture data. Unlike human motions, animal motions are relatively difficult to capture. Also, it is a challenge to synthesize continuously changing animal motions in real time because animals have various gait types according to their speed. The algorithm proposed herein, however, is able to synthesize continuously varying motions with proper limb configuration by using only one single cyclic animal motion per gait type based on the biologically driven Froude number. During the synthesis process, each gait type is automatically determined by its speed parameter, and the transition motions, which have not been entered as input, are synthesized accordingly by the optimized asynchronous motion blending technique. At the start time, given the user's control input, the motion path and spinal joints for turning are adjusted first and then the motion is stitched at any speed with proper transition motions to synthesize a long stream of motions.

• 대한간호학회지
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• 제30권3호
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• pp.647-658
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• 2000

The purpose of this study was to determine the effect of Korean traditional dance movement training on balance, gait and leg strength in elderly women who are forced to remain at home. Fifteen elderly women of an experimental group between the ages 65 and 75 years who have normal vision and passed the hearing and Romberg test, participated in the 12 weeks' dance movement training. Fourteen subjects of a control group were selected. Korean traditional dance movement training was developed on the basis of Korean traditional dance and music by the authors. It took approximately 50 minutes to perform the dance movement program. The subjects of the experimental group practiced dance training for 3 times a week during 12 weeks. During the 50 minutes workout, the subjects practiced 15 minutes of a warm-up dance, 25 minutes of a conditioning dance, and 10 minutes of a cool-down dance. The intensity for the conditioning phase was between 60% and 65% of age-adjusted maximum heart rates. The balance, gait and leg strength were measured prior to and after the experimental treatment. Total balance scores of the experimental group were significantly higher than those of the control group. Scores of sternal nudge, one leg standing balance and reaching up among 13 items have significantly increased after the dance movement training. Total scores of gait of the experimental group were significantly higher than those of the control group following the korean traditional dance movement training. Scores of experimental group in step height, path deviation and turning while walking among 9 items have increased significantly following 12 weeks of dance movement training. The leg strength of experimental group was significantly higher than those of the control group following the Korean traditional dance movement training. The balance, gait and leg strength have significantly correlated in the experimental group following the Korean traditional dance movement training. The results suggest that Korean traditional dance movement training can improve balance, gait and leg strength in home bound elderly women.