• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.389-396
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• 2016

In order to maximize the speed of Theo Jansen Mechanism in an given design space and prototyping material, the trajectory path was maximized according to several literature reviews, and the lower leg was elongated maximally in order to minimize the shift between support phase and transfer phase.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1311-1312
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1391-1392
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• 2011

• Journal of Korean Physical Therapy Science
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• v.19 no.4
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• pp.7-15
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• 2012

Background : The purpose of this study is to determine the effect Berg Balance Scale(BBS) evaluating frequency on the walking speed and dynamic balance control in patient with stroke. Method : sixteen patient with stroke were randomly allocated to an experimental and control group of eight patients each. For the experimental group, we performed both general physical therapy and BBS and general physical therapy only for the control group. The general physical therapy programs for the 2 group were conducted for 1 hour 1 a day, 5 times a week for 4 weeks, and BBS for the experimental group was conducted for 1 time a week. Result : A comparison of the Berg Balance Scale(BBS). Timed Up Go test(TUG) and 10 meter Walking Test(10mWT) score obtained before and after the 4-week treatment revealed statistical significant different(p<.05) for the experimental group. BBS evaluated weekly and the first day and the last day evaluated in both groups after 4 weeks of BBS assessment improved significantly were (p<.05) especially in the assessment group on a weekly basis more improvement was. BBS weekly assessment group and the first day and on the last day, a group evaluation after 4 weeks in both the change of the TUG, 10mWT was significantly improved in the evaluation group(p<.05). Conclusion : 1 time a week of the BBS assessment of with stroke patients BBS, TUG, 10mWT that can help to improve. especially on a weekly basis, more has been improved.

• Quality Improvement in Health Care
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• v.23 no.2
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• pp.11-20
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• 2017

Purpose: The purpose of this study was to determine the effects of rotation direction during curved walking on gait parameters in stroke patients. Methods: A group of thirty subjects with stroke (Berg Balance Scale score${\geq}41$ were fifteen, Berg Balance Scale score${\leq}40$ were fifteen) were enrolled in this study. Testing indications included two directions for rotation in each subject. These indications were for rotation toward the affected and unaffected side in stroke patients. The gait speed, affected side single support duration, affected side double support duration 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 40 points of Berg Balance Scale score. Results: There was significant increase affected side single support duration was turned the affected side in stroke patients that presented a Berg Balance Scale score${\geq}41$ (p<.05). There were significant increase gait speed, affected side single support duration, and significant decrease affected side double support duration while subjects were turned the affected side in stroke patients that presented a Berg Balance Scale score${\leq}40$ (p<.05). Conclusion: This result may be effective to rotate in the paralyzed direction to improve the ability of the paralyzed lower limb to gain weight during gait training for stroke patients with a Berg Balance Scale score<40. Therefore, walking training program for hemiplegic patient needs to be suggested in the direction of turning for suitable balance ability.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.534-539
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• 2008

This paper is about intelligent hexapod robot for the support walking of the aged person. The robot using various sensors and small camera has various abilities of forward backward walking, turing left or right, control the speed of walking, avoiding the obstacles and detecting risky situation of fire or gas. To let the aged feel soft and safe walking, we used special servo motor and developed hexapod walking mechanism and effective algorithm.

• Journal of the Ergonomics Society of Korea
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• v.35 no.5
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• pp.319-341
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• 2016

Objective:This research analyzed the lower-limb motion in kinetic and kinematic way while walking on various terrains to develop Foot-Ground Contact Detection (FGCD) algorithm using the Inertial Measurement Unit (IMU). Background: To estimate the location of human in GPS-denied environments, it is well known that the lower-limb kinematics based on IMU sensors, and pressure insoles are very useful. IMU is mainly used to solve the lower-limb kinematics, and pressure insole are mainly used to detect the foot-ground contacts in stance phase. However, the use of multiple sensors are not desirable in most cases. Therefore, only IMU based FGCD can be an efficient method. Method: Orientation and acceleration of lower-limb of 10 participants were measured using IMU while walking on flat ground, ascending and descending slope and stairs. And the inertial information showing significant changes at the Heel strike (HS), Full contact (FC), Heel off (HO) and Toe off (TO) was analyzed. Results: The results confirm that pitch angle, rate of pitch angle of foot and shank, and acceleration in x, z directions of the foot are useful in detecting the four different contacts in five different walking terrain. Conclusion: IMU based FGCD Algorithm considering all walking terrain possible in daily life was successfully developed based on all IMU output signals showing significant changes at the four steps of stance phase. Application: The information of the contact between foot and ground can be used for solving lower-limb kinematics to estimating an individual's location and walking speed.

• The Journal of Korean Physical Therapy
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• v.29 no.2
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• pp.50-54
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• 2017

Purpose: This investigation aimed to determine the effects of treadmill training (TT) and high frequency chest wall oscillation (HFCWO) on pulmonary function and walking ability in stroke patients as well as propose an exercise program to improve cardiovascular function. Methods: Twenty hemiplegic stroke patients were randomized to either the control group (CG) (n=10) or the experimental group (EG), which received TT and HFCWO (n=10). Pulmonary function was quantitated using patient forced vital capacity (FVC) and forced expiratory volume at one second (FEV1) while walking speed was assessed by the 10m walking test (10MWT). Further, walking endurance was determined utilizing the 6-minute walk test (6MWT). Subjects of the EG performed the study protocol for 60 minutes, five times a week for six weeks; CG patients did not participate in regular exercise. To determine significance for the differences observed before and after exercise, within-group and between-group comparisons were conducted utilizing paired and independent t-tests, respectively, with the level of significance set at ${\alpha}=0.05$. Results: Within-groups, significant differences were observed in both FVC and FEV1 (p<0.01) following completion of the study protocol. Further, between-group comparisons demonstrated significant differences in both FVC (p<0.05) and FEV1 (p<0.01). Post-exercise, significant changes in the 10MWT and 6MWT score were observed between the EG and CG (p<0.01). Further, statistically significant differences were observed in 6MWT scores between-groups (p<0.05). Conclusion: The TT and HFCWO effectively improved pulmonary function and walking ability in subjects with stroke. The proposed program can be applied to stroke patients as a useful therapy.

• Korean Journal of Applied Biomechanics
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• v.26 no.1
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• pp.135-142
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• 2016

Objective: The purpose of this study was to investigate the acute effect of walking on high heels on the behavior of fascicle length and activation of the lower limb muscles. Methods: Twelve healthy inexperienced high heel wearers (age: $23.1{\pm}2.0yr$, height: $162.4{\pm}4.9cm$, weight: $54.4{\pm}8.5kg$) participated in this study. They walked in high heels (7 cm) and barefoot on a treadmill at their preferred speed. During the gait analysis, the lower limb joint kinematics were obtained using a motion analysis system. In addition, the changes in fascicle length and the level of activation of the medial gastrocnemius (MG) were simultaneously monitored using a real-time ultrasound imaging technique and surface electromyography, respectively. Results: The results of this study show that the MG fascicle operates at a significantly shorter length in high heel walking ($37.64{\pm}8.59mm$ to $43.99{\pm}8.66mm$) in comparison with barefoot walking ($48.26{\pm}9.02mm$ to $53.99{\pm}8.54mm$) (p < .05). In addition, the MG fascicle underwent lengthening during high heel walking with relatively low muscle activation while it remained isometric during barefoot walking with relatively high muscle activation. Conclusion: Wearing high heels alters the operating range of the MG fascicle length and the pattern of muscle activation, suggesting that prolonged wearing of high heels might induce structural alterations of the MG that, in turn, hinder normal functioning of the MG muscle during walking.

• Research in Community and Public Health Nursing
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• v.30 no.1
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• pp.47-56
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• 2019

Purpose: This study was performed to evaluate effects of a stim-up matt walking exercise program on balance and gait of the frail elderly. Methods: A total of 37 elderly people recruited from S city were randomly assigned to the experimental group (n=22) and control group (n=15). The stim-up matt walking exercise program was offered twice a week for 8 weeks. Data were analyzed by SPSS 21.0. Results: The dynamic balance ability Timed Up and Go test of the experimental group was significantly faster than that of the control group (t=21.72, p<.001). The static balance ability open-eye standing test (t=44.15, p<.001) and close-eye standing test (t=9.01, p=.005) also showed increase in effects of the experimental group. In the walking ability, gait cycle (t=2.48, p=.018), cadence (t=-2.21, p=.034) and gait speed (t=-2.78, p=.009), positive effects were on. However, no statistically significant differences were found in stride length and double support. At the ankle joint range left ankle plantar flexion (t=3.92, p<.001) and left ankle dorsal flexion (t=4.51, p<.001) were higher in the experimental group than in the control group, and also right ankle plantar flexion (t=2.79, p=.008) and right ankle dorsal flexion (t=2.92, p=.006) increased in the experimental group. Conclusion: The significance of this study is that the stim-up matt walking exercise program for the frail elderly proves to be useful for improving balance and walking.