• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1530-1534
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• 2004

This paper presents a novel bio-mimetic quadruped walking robot with a waist joint, which connects the front and the rear parts of the body. The new robot, called ELIRO-1(Eating LIzard RObot version 1), can bend its body while the legs is transferred, thereby increasing the stride and speed of the robot. The waist-jointed walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. We design the mechanical structure of the robot, which is small and light to have high movability and high degree of human friendship. In this paper, we describe characteristics of the waist joint and leg mechanism as well as the analysis using ADAMS to select appropriate actuators. In addition, a hardware and software of the controller of ELIRO-1 are described.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.323-329
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• 1994

In the systems such as walking robots or high speed operating manipulators, the effect of nonlinear terms is important and can not be neglected. Therefore the application of linear control law to such systems is inadequate. Moreover, because of the mathematical modeling errors the systems may become unstable. In this study, we designed a nonlinear controller with sliding mode scheme, which is robust to the modeling errors and applied this control algorithm to the 5 DOF biped robot system. Throught the computer simulations, we examined walking characteris and walking stability of the 5 DOF biped robot system.

• 대한통합의학회지
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• 제4권4호
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• pp.33-39
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• 2016

Purpose : The aim of this study was to investigate the effects of plastic ankle foot orthosis on adult post-stroke hemiplegic patients walking ability and balance. Method : The searched for the case controlled clinical trials about the effects of plastic ankle foot orthosis(pAFO) for walking ability and balance using quantitative gait analysis in adult post-stroke patients. Ten trials were selected from Riss4U databases published until June 2016 in Korea. The selected trials contained a control group with pre-test and post-test design, measured walking ability and balance as a dependent variable. Result : The selected ten trials involved a total of 180 patients. The walking speed, cadence, the portion of double limb supporting, stride length on affected side were improved by plastic ankle foot orthosis. Conclusion : The plastic ankle foot orthosis has some evidence to improve the walking ability and balance in post-stroke hemiplegic patients.

• 국제물리치료학회지
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• 제8권1호
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• pp.1090-1094
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• 2017

This study investigated the effects of indirectly applying proprioceptive neuromuscular facilitation (PNF) to the scapular adductor muscles of stroke patients on their scapular movements and walking ability. Five patients who were diagnosed with stroke participated in this study as a single group. PNF patterns were applied to the scapulae anterior elevation and posterior depression patterns and upper limbs patterns of the patients in side lying and sitting positions together. The data were analyzed with a paired t-test in order to identify within-group differences in the measurements before and after the intervention. The scapular movements of the upper and lower parts, weight bearing and walking speed were significantly improved in the stroke patients after the application of PNF (p<0.05). These results suggest that PNF training effective in improving the scapular movements and walking ability in patients with stroke.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.459-465
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• 2019

There is an increasing interest in health and research on methods for measuring human body information. The importance of continuously observing information such as the step change and the walking speed is increasing. At a person's gait, information about the disease and the currently weakened area can be known. In this paper, gait is measured using wearable walking module built in shoes. We want to make continuous measurement possible by simplifying gait measurement method. This module is designed to receive information of gyro sensor and acceleration sensor. The designed module is capable of WiFi communication and the collected walking information is stored in the server. The information stored in the server is corrected by integrating the acceleration sensor and the gyro sensor value. A band-pass filter was used to reduce the error. This data is categorized by the Gait Finder into walking and waiting states. When walking, each step is divided and stored separately for analysis.

• The Journal of Korean Physical Therapy
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• 제24권2호
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• pp.143-150
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• 2012

Purpose: This study was intended to discover the effect of the turning training on figure of 8 tract on stroke patients' static and dynamic balance, as well as walking. Methods: A total of 42 stroke patients participated in this study. The training group was trained on the figure of 8 tract, while the control group was trained on the straight path for 30 minutes per day, for 4 weeks. Berg balance scale was used to measure the balance of the patients, before and after the training, and Good balance system was used to measure the sway speed and the distance of COG while standing. To measure the ability of walking, TUG and FSST were also used. Results: There were significant increases in the average score of Berg balance scale, in both groups after the training, and also significant difference between both groups were observed. The training group showed significant differences in the static balance ability, as well as anteroposterior and mediolateral sway speed. Further, there were significant increases in the dynamic balance ability, COP total distance, and TUG in both groups. The results showed more differences in comparing the control group with that of the training group. In FSST, there was no change in the control group, but there was a significant increase in the training group. Conclusion: Turning training on figure of 8 tract in stroke patients significantly increased the static and dynamic balance and walking ability. Based on the results, it can be seen that the training on the figure of 8 tract can influence the ability of balance and walking, which can lead to appropriate reactions to the change of environment and various tasks. Thus, it is assumed that turning training on figure of 8 tract as a means of improving the condition of stroke patients can be a meaningful program.

• Physical Therapy Rehabilitation Science
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• 제4권1호
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• pp.32-37
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• 2015

Objective: This study was conducted to test the effects of mobile texting and gaming on gait with obstructions under different illumination levels. Design: Cross-sectional study. Methods: Twelve healthy adults aged 20 to 36 years (mean 23.5 years) were tested under six different conditions. All participants used touchscreen smartphones. Testing conditions included: 1) Walking with an obstruction under a bright illumination level; 2) walking with an obstruction with a low level of illumination; 3) walking with an obstruction while texting under a bright illumination level; 4) walking with an obstruction while texting with a low level of illumination; 5) walking with an obstruction while gaming under a bright illumination level; and 6) walking with an obstruction while gaming with a low level of illumination. All participants were asked to text the Korean national anthem by their own phone and play Temple Run 2 using an iPhone 5. Gait variances were measured over a distance of 3 m, and the mean value after three trials was used. A gait analyzer was used to measure the data. Results: Compared to normal gait with obstruction, gait speed, step length, stride length, step time, stride time, cadence while texting and gaming showed significant differences (p<0.05). Differences between the illumination levels included gait speed, step length, stride length, and step time (p<0.05) with no significant differences in stride time and cadence. Conclusions: Dual-tasking using a smartphone under low levels of illumination lowers the quality of gait with obstructions.

• PNF and Movement
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• 제15권1호
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• pp.27-33
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• 2017

Purpose: This study examined the effects of upper- and lower-limb coordinated exercise with proprioceptive neuromuscular facilitation (PNF) on stroke patients' recovery of their balancing and walking abilities. Methods: This study was conducted with 30 patients aged at least 60 years and diagnosed with stroke. The patients were randomly assigned to either a PNF upper- and lower-limb coordinated exercise group of 15 patients or an aero-step balance exercise group of 15 patients. To test the subjects' balancing and walking abilities, balancing ability tests and 10-m walking speed tests were conducted before and after the interventions. The patients performed their respective exercises for 30 minutes per session, three times per week for four weeks. The PNF exercise group performed six stages of exercise consisting of a combination of PNF patterns such as sprinting, skating, and striking. The six stages (right striking, right skating, right sprinting, left striking, left skating, and left sprinting) were performed continuously with a rest period of 1 min. after training for 4 min. The exercises for the aero-step balance group consisted of balancing in a two-leg standing position, weight shifting in a two-leg standing position, one-leg standing, squat exercises, marching in place, and squatting on an aero step. Results: The PNF exercise group showed significant improvements in their balancing ability evaluations compared to the aero-step balance group and also showed significant improvements in their 10-m walking speed tests. Conclusion: Based on the results of this study, PNF upper- and lower-limb coordinated exercise resulted in clinical improvements of stroke patients' balancing and walking abilities. Therefore, this type of exercise is recommended as a clinical intervention for the recovery of stroke patients' lower-limb function. Future studies should be conducted with longer intervention periods and more subjects to generalize the study results.

• 농촌의학ㆍ지역보건
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• 제43권4호
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• pp.250-257
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• 2018

본 연구는 성인 뇌졸중 환자의 보행기능을 향상시키기 위해 사용되고 있는 보행보조기의 가장 이상적인 길이를 제시함으로써 뇌졸중 환자만을 위한 전문화된 맞춤형 보행보조기 길이의 사용을 독려하기 위하여 실시하게 되었다. 그 결과, 지팡이 높이에 따른 성인 뇌졸중 환자의 보행균형, 보행분석에서 보행의 속도 증가를 위해서 몸통 굴곡을 통한 무게 중심이 아래쪽에 위치하고, 하지근육의 활성도 증가를 위해서 몸통 신전을 통한 무게 중심이 위쪽으로 이동하여 척추 기립근의 수축으로 뇌졸중 환자의 지팡이 높이에 따른 균형과 보행 변화의 근거를 제시한다.

• 한국운동역학회지
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• 제18권2호
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• pp.75-83
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• 2008

본 연구의 목적은 보행 속도의 차이에 따른 최대 관절 모멘트와 최대 모멘트 발생 시점의 관절 각도 상관관계를 규명하는데 있다. 8명의 $20{\sim}30$대 남성을 대상으로 보행 속도의 3가지 단계(1.5m/s, 1.8m/s, 2.1m/s)를 나누어 속도에 따른 보행을 실시하여 얻어진 결론은 다음과 같다. 1. 보행 속도가 증가함에 따라 무릎 최대 신전 모멘트는 증가하였고, 굴곡, 외전 모멘트는 큰 영향을 받지 않았다. 2. 최대 신전 모멘트가 발생하는 시점의 무릎 관절 각도는 굴곡의 움직임이 커졌으나, 다른 무릎 관절 각도에는 변화가 없었다. 3. 힙 최대 신전, 굴곡, 외전 모멘트는 증가하였다. 4. 최대 굴곡과 신전 모멘트가 발생하는 시점의 힙 관절 각도의 신전과 굴곡의 증가 현상을 보였으나, 최대 외전 모멘트가 발생하는 시점의 무릎 관절 각도에는 변화가 없었다. 5. 무릎 최대 신전, 굴곡, 외전 모멘트와 무릎 관절 각도를 least square method를 이용하여 적합도 검사를 실시한 결과 R2값이 높게 나타나 상관관계의 설명력이 높았다. 이렇게 근사된 곡선의 근사식은 보행 속도에 따른 무릎 관절의 평가 자료로 이용될 것으로 기대된다.