• Journal of the Ergonomics Society of Korea
• /
• v.11 no.1
• /
• pp.93-101
• /
• 1992

Gait parameters for the Korean normal adults were compared with sex and age. Time-distance measurements and ground reaction force parameters were studied in relation to walking speed. Regression analysis was performed to establish functional relations between walking speed and various gait parameters. It is found that cardence and stride length varied linearly with walking velocity whereas time of double support was inversely proportional to walking velocity. The amplitude of ground reaction force was increased with increasing velocities of gait due to the greater heel-strike force and toe-off forces associated with these higher velocities. The results of this study can be usefull utilized as basic data to design and evaluate prosthetic devices, and to detect abnormal gait performances.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.12
• /
• pp.689-695
• /
• 2003

Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• Physical Therapy Rehabilitation Science
• /
• v.3 no.1
• /
• pp.43-48
• /
• 2014

Objective: The purpose of this study was to examine the influences on gait features during mobile phone use while ramp walking. Design: Cross-sectional study. Methods: Thirty-three healthy adult subjects performed four walking conditions on an outside ramp with a 5 m length, 1.5 m width, and a $5^{\circ}$ angle. All participants were touch screen mobile phone users. Four walking conditions were used: 1) ramp ascent, 2) ramp descent, 3) texting during ramp ascent, and 4) texting during ramp descent. In conditions 3) and 4), subjects texted the words of "Aegukga"-the song of patriotism-while walking. Upon the signal of start, the subjects walked the ramp during texting. Gait parameters were measured at the length of 3 m excluding 1 m of the start and end of the total length. Each situation was repeated three times for each subject, and mean values were calculated. For gait examination, a gait analyzer was used (OptoGait). Results: Subjects ranged in age from 23 to 38 years (mean age, 27.73). Eighty-three percent of subjects in our study had experienced an accident during mobile phone use. Texting on a mobile phone while walking significantly decreased ramp gait, speed, cadence, stride length, step length, and single support (p<0.05) and significantly increased stride time, step time, gait cycle, and double support (p<0.05). There was a significant difference in cadence, step length, stride time, step time, and single support during ramp ascent and descent (p<0.05). Conclusions: Texting on a mobile phone while walking significantly decreased gait quality.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.6
• /
• pp.217-222
• /
• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• Journal of Korea Multimedia Society
• /
• v.11 no.6
• /
• pp.787-795
• /
• 2008

Human recognition on camera is an interesting topic in computer vision. While fingerprint and face recognition have been become common, gait is considered as a new biometric feature for distance recognition. In this paper, we propose a gait recognition algorithm based on the knee angle, 2 feet distance, walking velocity and head direction of a person who appear in camera view on one gait cycle. The background subtraction method firstly use for binary moving object extraction and then base on it we continue detect the leg region, head region and get gait features (leg angle, leg swing amplitude). Another feature, walking speed, also can be detected after a gait cycle finished. And then, we compute the errors between calculated features and stored features for recognition. This method gives good results when we performed testing using indoor and outdoor landscape in both lateral, oblique view.

• International journal of advanced smart convergence
• /
• v.9 no.4
• /
• pp.139-148
• /
• 2020

Walking is one of the most natural and repetitive actions we do in our daily lives. However, many modern people have problems with shoulders, back and spine due to incorrect walking habits. Therefore, it is becoming important to diagnose and correct wrong walking habits, for example, in-toeing, out-toeing, etc. early, which can be a precursor to various diseases. In this study, we developed the system to diagnose and prevent incorrect gait by grasping and analyzing the angle and muscle activity of the foot according to the typical wrong gait type through MPU 6050 acceleration sensor and the surface EMG sensor. Through a smartphone, numerical and visualization screens based on walking can be used to represent the angle of the feet, real-time EMG values, and even the number of steps. The correction effect was enhanced by improving the cognitive ability through a system that allows individuals to easily diagnose gait through smart devices and improve them according to their own problems.

• Physical Therapy Korea
• /
• v.25 no.2
• /
• pp.53-61
• /
• 2018

Background: Stroke patients show abnormal walking patterns due to brain injury. In order to have the desired walking pattern, appropriate stimulation is required to activate the central pattern generator. For this reason, our study performed treadmill ambulatory training with rhythmic auditory stimulation. However we did not consider the influence of visual feedback. Objects: The purpose of this study was to compare the gait abilities in chronic stroke patients following either treadmill walking training with rhythmic auditory stimulation and visual feedback (TRASVF) or treadmill walking training with rhythmic auditory stimulation (TRAS) alone. Methods: Twenty-one stroke patients were divided into two groups: A TRASVF group (10 subjects) and a TRAS group (11 subjects). They received 30 minutes of neuro-developmental therapy (NDT) and walking training for 30 minutes, five times a week for three weeks. Temporal and spatial gait parameters were measured before and after the training period. The Biodex gait trainer treadmill system measured gait parameters. Results: After the training periods, the TRASVF group showed a significant improvement in walking speed, the step length of the affected limb, and time on each foot of the affected limb when compared to the TRAS group (p<.05). Conclusion: The results of this study showed that the treadmill walking training with rhythmic auditory stimulation and visual feedback improved individual gait ability more than the treadmill walking training with rhythmic auditory stimulation alone. Therefore, visual feedback should be considered along with rhythmic auditory stimulation training.

• Journal of the Korean Society of Physical Medicine
• /
• v.10 no.4
• /
• pp.25-31
• /
• 2015

PURPOSE: Previous studies have shown that healthy young adults reduced gait velocity during texting or talking while walking. It was reported that increasing number of pedestrian accidents were related to distract the environmental attention. The purpose of this study was to compare the effects of texting and texting while listening to music on gait parameters. METHODS: Texting and listening to music while walking were assessed in two dual-task condition using 35 healthy young adults. The outcome measurements were assessed in terms of spatiotemporal gait parameters in three walking conditions, namely, comfortable walking speed, walking while texting, and walking while texting and listening to music. To avoid learning effect, subjects were individually blinded to assessment schedule and space. The changes between the three walking conditions were analyzed using repeated measures ANOVA. RESULTS: When comparing the two dual-task conditions with the single-task condition, it was found that dual-task interference was increased in almost gait velocity, cadence, stride length, step time, double limb support, and single limb support. In addition, walking while texting and listening to music condition negatively was affected gait speed, stride length, and step time more than the texting only condition. CONCLUSION: Walking while texting and listening to music as well as waling while texting may decrease pedestrian safety when crossing streets by diverting the person's attention away from the street environment.

• Physical Therapy Korea
• /
• v.9 no.2
• /
• pp.43-50
• /
• 2002

This study was designed to identify the effects of walking conditions (normal walking vs. toe-walking) on electromyographic (EMG) activity of gastrocnemius, tibialis anterior, and soleus muscle. Seven healthy adult males participated in this study. The exclusion criteria were orthopedic or neurologic disease, congenital anomaly or acquired deformity, or pain in low back or lower extremities. The maximal voluntary isometric contraction for each muscle was used for the reference contraction, and EMG activity of each muscle during normal walking and toe-walking was expressed as a percentage of reference contraction. The gait cycle was determined with two foot switches, and gait was normalized as 100% gait cycle for each condition. The maximal values of EMG activity in terminal stance (30~50% of gait cycle) of each condition were compared for data analysis. No significant differences were found in EMG activity of the tibialis anterior and soleus (p>.05), whereas significant decrement was found in EMG activity of gastrocnemius during toe-walking compared to normal walking (p<.05). There is a limitation to generalize the results of this study, because small number of subjects participated for this study and only EMG was used for data collection. The treatment methods should be developed to improve gait efficiency by substituting the weakened muscles secondary to upper motor neuron, or by strengthening the distal muscles in lower extremity.

• Journal of Mechanical Science and Technology
• /
• v.19 no.spc1
• /
• pp.371-376
• /
• 2005

Relative contributions of lower extremity joints on the support moment were investigated in this study. Three-dimensional gait analyses were performed in normal walking and in unexpected step-down walking. For both gait studies, inverse dynamics were performed to obtain each joint moment of the lower extremity, which was applied to the forward dynamics simulation to determine the contributions on the support moment at different phases of walking. The forward dynamic simulation results showed that, in normal walking, the ankle plantar flexors contributed significantly during single-limb-support. However, the ankle plantar flexors, knee extensors and hip extensors worked together during double-limb-support. In unexpected step-down walking, the important contributors on the support of the body during single-limb-support were not only ankle plantar flexors but also knee extensors. This study, analyzing the relative contributions of the lower limb joint moments for the body support, would be helpful to understand different unexpected walking conditions and compensatory mechanisms for various pathological gaits.