• Physical Therapy Rehabilitation Science
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• v.11 no.3
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• pp.279-284
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• 2022

Objective: This study was conducted to confirm the effect of physiotherapy on the balance and walking in dog with sciatic nerve injury and degenerative arthritis of stifle joints. Design: Single case study Methods: The dog walked abnormally for six months and was administrated in S animal hospital. The dog's right hindlimb was operated for cranial cruciate ligament repair and the dog had been taking a nonsteroidal anti-inflammatory analgesic before being refered. There was severe degenerated osteoarthritis in the right hindlimb. During stance and walking, the right hindlimb was often shown partial weight bearing. The dog's left hindlimb was shown plantigrade stance and walking. The radiograph was shown an intact calcaneal tendon in the left hindlimb. In the neurologic examination, sciatic nerve injury in the left hindlimb was confirmed. The dog was treated using muscle strengthening, proprioceptive exercise, underwater treadmill and Laser therapy two, or three times a week for 3 months. At the 10th and 17th treatment, it was evaluated through stance and gait analyzer system to measure dog's balance and walking. Results: 3 months following physiotherapy, the dog's balance was improved in center of pressure(COP). And peak vertical force(PVF), vertical impulse(VI) was increased in right hindlimb and double stance was decreased. Conclusions: Physiotherapy may have improved the prognosis in this dog with severe osteoarthritis and sciatic nerve injury. This study suggested that animal physiotherapy is a valuable way to improve balance and walking.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.57-66
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• 2014

This paper describes the design concept of a bio-inspired legged underwater and estimating its performance by implementing simulations. Especially the leg structure of an underwater organism, diving beetles, is fully adopted to our designing to employ its efficiency for swimming. To make it possible for the robot to both walk and swim, the transformable kinematic model according to applications of the leg is proposed. To aid in the robot development and estimate swimming performance of the robot in advance, an underwater simulator has been constructed and an approximated model based on the developing robot was set up in the simulation. Furthermore, previous work that we have done, the swimming locomotion produced by a swimming patten generator based on the control parameters, is briefly mentioned in the paper and adopted to the simulation for extensive studies such as path planning and control techniques. Through the results, we established the strategy of leg joints which make the robot swim in the three dimensional space to reach effective controls.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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• pp.105-112
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• 2019

Objective: The main purpose of this study was to investigate the effects of wearing an ankle weight belt while performing gait in water by focusing on the effect of using ankle weights have on the gait kinematics and the muscle activities for developing optimum training strategies. Method: A total of 10 healthy male university students were recruited for the study. Each participant was instructed to perform 3 gait conditions; normal walking over ground, walking in water chest height, and walking in water chest height while using ankle weights. All walking conditions were set at control speed of $4km/h{\pm}0.05km/h$. The depth of the swimming pool was at 1.3 m, approximately chest height. The motion capture data was recorded using 6 digital cameras and the EMG was recorded using waterproof Mini Wave. From the motion capture data, the following variables were calculated for analysis; double and single support phase (s), swing phase (s), step length (%height), step rate (m/s), ankle, knee, and hip joint angles ($^{\circ}$). From the electromyography the %RVC of the lower limb muscles medial gastrocnemius, rectus femoris, erector spinae, semitendinosus, tibialis anterior, vastus lateralis oblique was calculated. Results: The results show significant differences between the gait time, and step length between the right and left leg. Additionally, the joint angular velocities and gait velocity were significantly affected by the water resistance. As expected, the use of the ankle weights increased all of the lower leg maximum muscle activities except for the lower back muscle. Conclusion: In conclusion, the ankle weights can be shown to stimulate more muscle activity during walking in chest height water and therefore, may be useful for rehabilitation purposes.

• Journal of the Korean Applied Science and Technology
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• v.37 no.6
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• pp.1646-1658
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• 2020

In order to investigate the changes in growth hormone, testosterone, blood lactate, double product, and pain, this study conducted intensive weight training and circuit weight training with 60% intensity of 1RM for 7 men who had more than 6 months of resistance exercise and then performed Underwater Walking and Underwater Sitting with underwater recovery. Growth hormone was high in all exercise forms and recovery methods in order of after exercise, after recovery, and after stability, and testosterone was high in order of after exercise, after recovery, and stability. Blood lactate was higher in all exercise forms and recovery methods in order of after exercise, after recovery, and after stabilization, and dynamic recovery after concentration resistance exercise was lower than static recovery. Double product was higher in all types of exercise and recovery methods in order of after-exercise, after-recovery, and stability. Muscle pain decreased in the order of exercise, recovery, 24 hours, 48 hours, and 72 hours in all exercise forms and recovery methods. In the water environment, dynamic recovery is considered to be more effective in improving muscle fatigue than static recovery.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.81.1-81
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• 2002

$\textbullet$ This paper presents a study on the development of a walking robot for an armor-stone work of the breakwater construction. The armor-stone work is putting stones about 0.3 ∼ 2m3 on the surface of the breakwater to prevent it from waving. $\textbullet$ This work has been done manually, and its process plan is uncertain by effects of the weather, wave and tide of sea. Therefore the constructional cost is considered to be wasteful $\textbullet$ Working in underwater as well as on land for human workers causes the accident and caisson disease, so it is necessary to replace the process to be mechanized. $\textbullet$ The basic requirements of the robot for mechanizing are as follows : 1) To have a large...

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.331-341
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• 2017

This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.9
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• pp.989-997
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• 2014

In this paper, we describe a design method for the static walking algorithm of a subsea hexapod robot called Crabster (CR200). To design the gait algorithms of a hexapod robot, we propose a design method that uses a gait schedule vector and leg pair vector to secure convenience and expandability. Several walking algorithms are designed that are capable of being applied to CR200 according to the underwater environment and explorative conditions. In addition, gait transition is freely performed between algorithms by applying common control parameters to them. The gait algorithms designed using the proposed method are simulated using MATLAB and validated against the results of experiments.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.439-446
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• 2014

An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole cameras was a new approach for the exact and stable position control on the IRWST strainer, unlike a traditional robot for underwater facility inspection. The developed robot will be practically used to enhance the efficiency and reliability of the inspection of nuclear power plant components.

• Journal of the Korean earth science society
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• v.39 no.1
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• pp.23-45
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• 2018

Moderately diverse, but very abundant trace fossils are found from the Late Pleistocene deposits of Jeju Island, Korea. Vertical I-, Y- and U-shaped domichnia of annelids or decapods are, over 2500, extremely abundant, 3D network domichnia of callianassids are, over 200, very abundant, and small sinuous trails of nematode repichnia are, over 50, abundant in number. Horizontal trails attributable to polychaete or worm-like animals are, less than 50, common, but horizontal spreiten burrows, fish traces and crab trackways are, less than 10, rare in occurrence. Of these trace fossils, Taenidium barretti, Undichna britannica and Undichna unisulca represent the first record from the Pleistocene in Asia. Psilonichnus upsilon is the second record in Asia. Crab trackways probably produced by underwater punting gait of sideway walking crabs may represent the first record in the world. In addition, diverse and very abundant footprints of more than 500 hominids, more than 200 birds and more than 1000 mammals are closely associated with these invertebrate trace fossils. Trace fossil assemblage integrated with sedimentary facies is interpreted to have been formed in the marginal marine foreshore to backshore environment corresponding to the Psilonichnus and Skolithos ichnofacies.

• Journal of The Korean Society of Integrative Medicine
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• v.4 no.3
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• pp.39-47
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• 2016

PURPOSE : This study attempts to find the effects of water perturbation exercise performed on stroke patients in their physiological cost index and gait ability tests. METHOD : The subjects were 30 stroke patients, water perturbation exercise group was performed 3 day per week, for 40 minutes a day, for a period of eight weeks. The physiological cost index and gait of all subjects were assessed by using the polar, 6 Minute Walk Test (6MWT), and 10 meter Walk Test(10mWT) at pre training and post training. Paired t-test was used to analyze change before and after intervention in group. Pearson's correlation was used to analyze correlation of all variables. RESULT : Water perturbation exercise group showed increased physiological cost index. Water perturbation exercise increased gait ability, showing a significant difference. Showing the correlation between the relatively high amount between physiological cost index and 6 minutes walking test. CONCLUSION : From the result of the study, we found that water perturbation exercise was effective in improving physiological cost index and gait ability. The patient is considered to be used by itself to involve the treatment and the risk of falling from the lowered state into the treatment method for the intensive treatment of stroke patients to be useful in improving the cardiovascular system and ability to walk. Through underwater training for stroke patients in the future on the basis of this study it is considered to require additional clinical studies on the impact on daily living and quality of life of stroke patients.