• The Journal of Korean Physical Therapy
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• v.9 no.1
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• pp.127-145
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• 1997

The purpose of this study wa9 to analyse the gait patterns of two female children with hemiplegic cerebral palsy by using the three-dimensional video motion analysis technique. Case 1 has mild spastic hemiplegia on the right side while Case 3 has moderate spastic hemiplegia on the left side. A group of 10, normal female children of the same age(7-8 years old) were selected as the control group for comparison. Time and distance variables as well as the Center of Mass displacement, and the pelvic and joint motions in three anatomical planes were analysed for this purpose. The following observations were made through the analysis : Case 1 revealed an asymmetrical gait pattern in which the step length of the unaffected side was shorter than that of the affected side, which wan a result of the effort to minimize loading on the affected leg by shortening the swing phase of the unaffected leg. Case 1 scored similar phase ratios, cadence and walking velocity to the normal group. A slight posterior tilt of the pelvis was observed throughout the gait cycle. Less hip and knee flexion than the normal group was observed, and demonstrated hyperextension of the knee in the terminal stance phase. The main problem in case 1 originated from the insufficient dorsiflexion of the affected foot during the swing phase. Therefore, Case 1 has difficulty with foot clearance in the swing phase. Usually, this is compensated for by using exessive hip abduction and medial rotation in conjuction with trunk elevation as well as increased vortical displacement of the center of mass. Case 1 revealed a foot-flat initial contact pattern. Case 2 was characterized by a consistent retraction ef the affected aide of the body througout the gait cycle, As a result, an asymmetrical gait pattern with increased stance phase ratios of the unaffected side was observed. In spite of this the step lengths of both sieds were similar. Case 2 scored lower cadence and walking speed than the normal group with lower gait stability. The main problem in Case 2 originated from an excessive plantaflexion of the affected foot which, in turn, rebutted in high hip and knee flexion. Hyperextension of the knee was observed at mid-stance, and execessive anterior tilt of the pelvis throughout the gait cycle was noticed. A gait pattern with high hip abduction and medial circumduction was maintained for the stability in the stance phase and foot clearance in the swing phase. Case 2 revealed a forefoot-contact initial contact pattern.

• Korean Journal of Applied Biomechanics
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• v.19 no.3
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• pp.435-448
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• 2009

The purpose of this study was to investigate the kinemaitc gait parameter of lower extremities with different gait conditions(level walking, stairs, ramp) in old adults. Fourteen healthy older adults participated in this study and kinematic data were measured using 3D motion analysis system(Vicon, Oxford Metrics, England). Statistical analysis was used one-way ANOVA to know the difference of lower extremities angle at each gait phase with a different gait conditions. In sagittal plane, pelvic anterior tilt increased in stairs and ramp climbing and hip and knee flexion increased in stairs climbing but ankle dorsiflexion increased in ramp climbing. In frontal plane, pelvic was up in stairs and hip abduction and adduction more changed in stairs climbing than level walking. Knee varus and ankle inversion increased in stair climbing. In horizontal plane, pelvic internal rotation increased in stairs and ramp climbing and knee internal rotation increased in stairs climbing but ankle external rotation increased in stairs climbing. This results was shown that the stairs and ramp climbing changed the kinematic gait parameters of lower extremities in healthy old adults.

• Journal of Korea Society of Industrial Information Systems
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• v.12 no.5
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• pp.39-46
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• 2007

Research on human identification in ubiquitous environment has recently attracted a lot of attention. As one of those research, gait recognition is an efficient method of human identification using physical features of a walking person at a distance. In this paper, we present a human shape extraction and tracking for gait recognition using geodesic active contour models(GACMs) combined with mean shift algorithm The active contour models (ACMs) are very effective to deal with the non-rigid object because of its elastic property. However, they have the limitation that their performance is mainly dependent on the initial curve. To overcome this problem, we combine the mean shift algorithm with the traditional GACMs. The main idea is very simple. Before evolving using level set method, the initial curve in each frame is re-localized near the human region and is resized enough to include the targe region. This mechanism allows for reducing the number of iterations and for handling the large object motion. The proposed system is composed of human region detection and human shape tracking modules. In the human region detection module, the silhouette of a walking person is extracted by background subtraction and morphologic operation. Then human shape are correctly obtained by the GACMs with mean shift algorithm. In experimental results, the proposed method show that it is extracted and tracked efficiently accurate shape for gait recognition.

• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.483-488
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• 2015

Objective : The purposes of this study was to analyze the locomotive movement of forelimbs according to changes in velocities in the quadruped cadence of horses. Methods : Horses selected as subjects consisted of Jeju pony horses (heights of withers: $1.23{\pm}0.51$). Two camcorders (HDR-HC7/HDV 1080i, Sony Corp, Japan) were used to capture the movement of the horses' forelimbs at a rate of 60 frames/sec. Additionally, raw data was collected from Kwon3D XP motion analysis package ver 4.0 program (Visol, Korea) with DARTFISH (DFKREA., Korea) video software solution. The variables analyzed consisted of 1 step lengths, 1 stride lengths, stance time, swing time, 1 stride time, velocity while walking, and trot of the horses. A two-way ANOVA and paired t-test of the variables by velocity and phase were treated at .05 level of significant difference, statistically. Results : The time elapsed of walk(stance: 0.63 sec[63.86%], swing: 0.35 sec[36.14%], 1 stride time: 0.99 sec respectively) showed significant difference with more delay than that of trot(stance: 0.29 sec[45.73%], swing: 0.34 sec[54.27% ], 1 stride time: 0.63 sec respectively), and also showed significant difference at trot in interaction (stance time>tort swing>walk swing>walk stance). The 1 step lengths and stride lengths in trot showed significant difference with longer than that of walk. Velocity of Trot showed significant difference statistically with higher than that of walk Conclusion : The horses' velocity during 1 step lengths and 1 stride lengths showed a proportional relationship, but the correlation between the horses' velocity and stance time showed a negative relationship during the quadruped cadence.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.41-46
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• 2013

IIn this paper, active trasfemoral prosthesis leg is designed for the handicapped who lost their legs upon knee. It is important to design proper knee joint to mimic walking motion of hyman. 1 degree-of-freedom active trasfemoral prosthesis leg is designed with knee joint. Operating angle and torque have been calculated using kinematics of three linkages in prosthesis leg. Finite element analysis of major components is performed to evaluate the safety under operating condition and to reduce weights. Minimum volumes of components are obtained by optimization as satisfying safety requirements. The results show that about 35% of weight of components is reduced.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.521-523
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• 2012

In the field of virtual reality and game production with realistic, real-time character's behavior is frequently used. In this paper, the terrain changes or other actions on the surrounding environment by implementing adaptive any action that is the most natural and can be adapted to analyze real-time character animation is implemented. For this purpose, in order to control the various movements of the character of the human body, by highlighting the major joints Kinematic dummy character animation is to create a way. Changes in terrain height difference of the two stairs that could cause analysis of the behavior in the environment and the other on the surrounding environment by adapting behavior to analyze the behavior of the slope climbing Based on this, the character animation is implemented.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1121-1125
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• 2004

The RT(Robot Technology) has been developed as the next generation of a future technology. According to the 2002 technical report from Mitsubishi R&D center, IT(Information Technology) and RT(Robotic Technology) fusion system will grow five times larger than the current IT market at the year 2015. Moreover, a recent IEEE report predicts that most people will have a robot in the next ten years. RCP(Robotic Cellular Phone), CP(Cellular Phone) having personal robot services, will be an intermediate hi-tech personal machine between one CP a person and one robot a person generations. RCP infra consists of $RCP^{Mobility}$, $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP interaction system is really focused in this paper. The $RCP^{interaction}$(Robotic Cellular Phone for Interaction) is to be developed as an emotional model CP as shown in figure 1. $RCP^{interaction}$ refers to the sensitivity expression and the link technology of communication of the CP. It is interface technology between human and CP through various emotional models. The interactive emotion functions are designed through differing patterns of vibrator beat frequencies and a feeling system created by a smell injection switching control. As the music influences a person, one can feel a variety of emotion from the vibrator's beats, by converting musical chord frequencies into vibrator beat frequencies. So, this paper presents the definition, the basic theory and experiment results of the RCP interaction system. We confirm a good performance of the RCP interaction system through the experiment results.

• Journal of the Korean Society of Physical Medicine
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• v.4 no.3
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• pp.149-156
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• 2009

Purpose：The hamstring muscle has an important role in standing, walking and other functions related to daily living. Most people with Cerebral Palsy(CP) have muscle tightness, especially in the hamstring, which may cause abnormal alignment in the lower extremities. To investigate an effective treatment for hamstring muscle tightness by observing the effects of heat pack or Soft tissue mobilization(STM) on hamstring muscles. Methods：Thirteen-two volunteers with CP aged between 9 and 13 years($M\pmSD$: $11\pm1.46$), were recruited and divided into four groups of four: (1) the STM for people with Spastic CP group, (2) the heat pack(HP) for people with Spastic CP group, (3) the STM for people with Mixd CP group, and (4) the heat pack for people with Mixed CP group. All received treatment three times per week for six weeks. A inclinometer was used to measure for hip flexion & knee extension joint range motion(ROM). Results：The ROM of hip flexion & knee extension were improved at the STM and HP for people with Spastic CP groups. The ROM and hip flexion were improved at the STM and HP for people with Mixed CP groups. The amount of increase ROM are differenced by the types of CP. Conculusion：STM and heat pack, both are effective for people with CP especially for Spastic CP.

• Physical Therapy Korea
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• v.11 no.4
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• pp.31-41
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• 2004

The purpose of this study was to examine the effect of the angle of a wedged insole on knee varus torque during walking. Fifteen healthy subjects were recruited. Knee varus torque was measured using three-dimensional motion analysis (Elite). Knee varus torque was normalized to gait cycle (0%: initial contact; 100%: ipsilateral initial contact) and stance phase (0%: initial contact; 100%: ipsilateral toe off). The average peaks of knee varus torque during the stance phase of the gait cycle according to the different insole angles (10 or 15 degrees) were compared using one-way ANOVA with repeated measures. The results showed that in the early stance phase, the average peak knee varus torque increased significantly for both the medial 10 and 15 degree wedged insole conditions and decreased significantly for both the lateral 10 and 15 degree wedged insole conditions as compared with no insole (p<.05). However, there were no significant differences between the 10 and 15 degree wedged insole conditions with either the medial or lateral wedged insole (p>.05). In the late stance phase, the average peak knee varus torque increased significantly for the medial 10 and 15 degree wedged insole conditions (p<.05), but not for the lateral 10 and 15 degree wedged insole conditions as compared with no insole (p>.05). We suggest that these results may be beneficial for manufacturing foot orthotic devices, such as wedged insoles, to control medial and lateral compartment forces in the knee varus-valgus deformity. Further studies of the effects of wedged insole angle on knee varus torque in patients with medial-lateral knee osteoarthritis are needed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.132-135
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• 2002

In the present study, an electro-mechanical KAFO (knee-ankle-foot orthosis) which satisfies both the stability in stance and the knee flexion in swing was developed and evacuated in eight polio patients. A knee joint control algorithm suitable for polio patients who are lack of the stability in pre-swing was also developed and various control systems and circuits were also designed. In addition, knee flexion angles and knee moments were measured and analyzed for polio patients who used the developed KAFO with the three-dimensional motion analysis system. Energy consumption was also evaluated for the developed KAFO by measuring the movement of the COG (center of gravity) during gait. From the present study, the designed foot switch system successfully determined the gait cycle of polio patients and controlled knee joint of the KAFO, resulting in the passive knee flexion or foot clearance during swing phase. From the three-dimensional gait analysis for polio patients, it was found that the controlled-knee gait with the developed electro-mechanical KAFO showed the knee flexion of 40$^{\circ}$∼45$^{\circ}$ at an appropriate time during swing. Vertical movements of COG in controlled-knee gait (gait with the developed electro-mechanical KAFO) were significantly smaller than those in looked knee gait(gait with the locked knee Joint). and correspondingly controlled-knee gait reduced approximately 40% less energy consumption during horizontal walking gait. More efficient gait patterns could be obtained when various rehabilitation training and therapeutic programs as well as the developed electro-mechanical KAFO were applied for polio patients.