• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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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.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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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.

• Journal of Music and Human Behavior
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• v.5 no.1
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• pp.1-17
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• 2008

The purpose of this study is to examine how rhythmic auditory stimulation (RAS), one of music therapy techniques for neurological rehabilitation, affects the factors of hemiplegia patients' turning gait and straight gait. This study is designed to compare elimination and intervention of music therapy for 4 weeks with repeated measure plan and measure factors are classified into 21 sub-factors. The subjects of this study were 4 patients who need walking training and they were requested by physical therapist a march and a lied were used to cure them by a researcher. Each session was composed of warming up, RAS gait training, ending. The music used for RAS gait training was provided with speed which was set to patient's own gait speed measured before music therapy. The speed was provided fast gradually and each session was proceeded for 50 minutes. The results of this study showed that walking abilities increase in the segments with music therapy (B) compared to those in the segment without music therapy (A), and this supports the previous report that the application of music therapy together with other treatments has a positive effect on improvement in the patient's walking abilities. In addition, this study is meaningful in that it demonstrated that RAS music therapy is helpful to improve walking abilities not only in straight gait but also in turning gait.

• Physical Therapy Korea
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• v.23 no.2
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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.

• Journal of Korean Academy of Nursing
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• v.30 no.5
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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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• v.19 no.3
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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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.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.4
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• pp.251-257
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• 2016

The Pediatric Balance Scale (PBS) was balance measurement equipment for school-age children with mild to moderate motor impairments. The aims of this study are to examine the correlation between PBS and spatiotemporal gait parameter and to identify the walking function with cerebral palsy through balance scale. The PBS consists of 14 items such as sitting of standing, standing to sitting, transfers, standing unsupported, standing on one foot, turning 360 degrees, turing to look behind, etc., and the spatiotemporal parameters include walking speed, stride length, step length, step width, cadence, double-limb support. All subjects were independently ambulatory children with spastic diplegic cerebral palsy, and they were assessed on PBS and spatiotemporal gait parameters by an experienced pediatric physical therapist. Pearson's correlation coefficient was used to assess the correlation between PBS and spatiotemporal gait parameters, and the level of significance was set at ${\alpha}$ = 0.05. Total score of PBS(r=.49~.58), standing to sitting(r=.48~.60), turning to look behind(r=.47~.53), and pick up object(r=.52~.69) were positively correlated with walking speed, stride length, step length, and cadence. Most items of the PBS were negatively correlated with double-limb support(r=-.48~-.92). These findings suggest that the pediatric balance scale can be applied to estimate gait function level for children with spastic diplegic cerebral palsy.

• ETRI Journal
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• v.35 no.6
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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.

• Journal of Korean Academy of Nursing
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• v.30 no.3
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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.