• Journal of International Academy of Physical Therapy Research
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• v.10 no.4
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• pp.1873-1878
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• 2019

Background: Walking is a complex activity. The main components of walking include balance, coordination, and symmetrical posture. The characteristics of walking patterns of stroke patients include slow walking, measured by gait cycle and walking speed. This is an important factor that reflects post-stroke quality of life and walking ability. Objective: This study aimed to examine the effect of deep lumbar muscle stabilization exercise on the spatiotemporal walking ability of stroke patients. Design: Quasi-experial study Methods: The experiment was conducted 5 times per week for 4 weeks, with 30 minutes per session, on 10 subjects in the experimental group who performed the deep lumbar muscle stabilization exercise and 10 subjects in the control group who performed a regular exercise. Variables that represent the spatiotemporal walking ability (step length, stride length, step rate, and walking speed) were measured using GAITRrite before and after the experiment and were analyzed. Results: There was a significant difference in the pre- and post-exercise spatiotemporal walking ability between the two groups (p<.05). Furthermore, there was a significant difference in the step rate and walking speed between the two groups (p<.05). Conclusions: Deep lumbar muscle stabilization exercise is effective in improving the walking ability of stroke patients. Therefore, its application will help improve the spatiotemporal walking ability of stroke patients.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.39-41
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• 2016

In the paper, we propose an stable walking algorithm of biped robot on the ground and working motion stabilization algorithm against external disturbances. We propose obstacle hurdling, incline walking, and going-up stairs algorithm by using infrared sensors and F/T sensors. Also, posture stabilization algorithm against external forces is designed using F/T sensors. Infrared sensors are used to detect the obstacles in he working environment and F/T sensors are used to obtain the ZMP of biped robot. The experimental results show that the biped robot performs obstacle avoidance, obstacle hurdling, walking on the inclined plane by using the proposed walking moton stabilization algorithm.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.551-558
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• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• Journal of the Korean Society of Physical Medicine
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• v.19 no.1
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• pp.155-164
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• 2024

PURPOSE: The purpose of this study was to evaluate the effects of simultaneous application of gaze stabilization exercise and cognitive training on the balance and gait ability in subacute stroke patients. METHODS: Thirty-five patients diagnosed with stroke within 3-6 months were randomly assigned, and the experimental group (n = 18) to which both gaze stabilization exercise and cognitive training were applied and the control group (n = 17) to which only gaze stabilization exercise was applied were targeted. It was performed for 30 minutes at a time, three times a week, for a total of 4 weeks. Berg Balance Scale, Timed Up and Go test, 10Meter Walking Test, and Walking symmetry were evaluated. RESULTS: In the comparison of changes between Berg Balance Scale, Time Up and Go test, 10 Meter Walking Test, and Gait symmetry, both experimental and control groups showed significant differences before and after the intervention, and in the evaluation of Gait symmetry, significant differences between groups. CONCLUSION: As a result of this study, when gaze stabilization exercise and cognitive training were allied simultaneously, it was possible to improve the balance and gait ability of subacute stroke patients, and had a more significant effect on gait ability. In considered that training that simultaneously applies gaze stabilization exercise and cognitive training can be presented as a balance and gait rehabilitation for stroke patients on the future.

• Physical Therapy Rehabilitation Science
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• v.11 no.4
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• pp.546-552
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• 2022

Objective: The purpose of this study was to compare walking speed and balance abilities according to various taping methodsin patients with stroke. Design: Cross-sectional study Methods: Twenty patients with stroke who were hospitalized at a rehabilitation hospital were allotted to the either the talus stabilization, Kinesio or sham taping, or barefoot conditions by drawing lots. Assessment tools used were the Functional Reach Test(FRT), Timed Up and Go test(TUG), One-Legged Stance Test (OLST), and the 10-Meter Walk Test(10MWT).After each test was measured three times, the mean values of each test was used for analysis. Results: Significant results were observed with thetalus stabilization and Kinesio taping groupcompared to the barefoot and sham taping method for theFRT,TUG, the OLST, and the 10MWT(p<0.05). Also, significant differences in the resultswere seen in the OLST, TUG, and the 10MWTwith the talus taping compared to the Kinesio taping method(p<0.05). Conclusions: The use oftalus stabilization taping applied to the ankle of patients with stroke was more effective for balance and walking ability improvement than Kinesio taping through the correction of an abnormal position of the talus.It is considered that these methods of taping can be applied effectively in the clinic.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.27 no.2
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• pp.69-76
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• 2021

Background: Degenerative arthritis accounts for a large portion of the elderly, causing a lot of inconvenience in daily life. Total knee replacement (TKR) are performed to relieve pain in the knee joint. The purpose of this study was to determine whether knee joint stabilization exercises are effective in improving balance and walking ability in degenerative arthritis patients who have undergone TKR. Methods: A total of 30 TKR patients participated in this study. They were assigned to two groups. The experimental group, the group that underwent knee stabilization exercises, joint mobilization and general physical therapy. On the other hand, and the controlled group, the group that underwent joint mobilization and general physical therapy. All exercises were conducted thrice a week, for four weeks. The main balance outcomes were evaluated using the posture balance training system, while walking ability was assessed using a wireless 3-axis accelerometer. Results: The experimental group had significantly higher scores in postural stability testing (PST), limits stability testing, and waling ability. The post-intervention evaluation, there were significant differences in all variables between the two groups. However, no significant difference was noted in the foam eyes closed test in PST. Conclusion: This study suggests that knee joint stabilization exercises effectively improve the balance and walking ability of TKR patients. Thus, it could be presented as useful in clinical practice.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• Journal of International Academy of Physical Therapy Research
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• v.2 no.2
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• pp.329-338
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• 2011

The purpose of this study is to examine the effect of stabilization, resistance exercise, and combined exercise for lumbar on balance and walking ability of elderly. This study selected 22 subjects of over 65 years old elderly women who satisfy the study condition from A, B and C Senior Citizen's Center, in Daegu. The subjects were divided into groups; 7 for resistance exercise group, 8 for stabilization exercise group, and 7 for combined exercise group(resistance and stabilization exercise). The exercises were conducted for 60min a day, three times a week for 12 weeks. Balance and walking ability were checked before the exercise, 6 weeks later, and 12 weeks later. First, all lumbar muscle strengthening exercises were effective for static balance which changed according to exercising period. In dynamic balance, the resistance exercise group showed significant improvement in sit to stand. Stabilization exercise group showed significant improvement in all factors. The combined exercise group showed significant improvement in sit to stand and timed up and go. There was no difference between the exercise types. Second, the resistance exercise group showed significant change in Cadence which changed according to exercising period. The combined exercise group showed significant improvement in all factors. Between the exercise types, combined exercise was a bit more effective than resistance exercise. According to the result of 12 weeks of lumbar muscle exercise, combined exercise is considered to be the most effective exercise to prevent fall as it helps balance and walking ability slightly more than other exercises. Therefore, this study can understand the risk factors for fall accidents that frequently occur among elderly and adopt the combined exercise to prevent fall which in turn will prevent secondary problems occur from fall accidents and improve quality of life of elderly.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• PNF and Movement
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• v.16 no.2
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• pp.195-205
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• 2018

Purpose: The purpose of this study was to demonstrate the effects of proprioceptive neuromuscular facilitation (PNF) stability techniques on walking speed, trunk stability, and balance in stroke patients. Methods: Ten stroke patients volunteered to participate in the study, and each of subjects was randomly assigned to either the stability technique (ST) group (n=5) or to the treadmill (TM) group (n=5). Each therapeutic exercise program was provided for 30 minutes a day, 5 days per week for 4 weeks. The ST group performed a PNF pattern combined with stabilizing reversal and rhythmic stabilization of the PNF stability technique. Walking speed (measured using a 10-meter walking test), trunk stability (TIS), and balance (BBS, FRT) were evaluated before and after training. All data were analyzed using SPSS version 18.0. The significance level for statistical inspection was set at 0.05. Results: Both groups showed improvements on the 10-meter walking test, the trunk impairment scale, the Berg balance scale, and the functional reaching test. Conclusion: PNF stability techniques are effective for improving trunk stability, balance, and walking speed in stroke patients. For stroke patients, PNF stability techniques are very useful and effective, including in clinical practice.