• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.100-105
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• 2013

In this study, we analyze the balance of quadruped walking robots. For this purpose, a simplified polygonal model of a quadruped walking configuration is considered. A boundary-range-based balance margin is used for determining the system stability of the polygonal walking configuration considered herein. The balance margin enables the estimation of the walking configuration's balance for effective walking. The usefulness of the balance margin is demonstrated through exemplary simulations. Furthermore, balance compensation by means of foot stepping is addressed.

• Journal of International Academy of Physical Therapy Research
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• v.4 no.2
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• pp.566-572
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• 2013

This study aims to compared effect of balance between general walking exercise and power walking exercise. Twenty subjects were classified into two groups, general walking exercise(n=10) and power walking exercise(n=10). As a result, two group showed difference within the group and there is significant difference between two groups. 1) In compared static balance of sway area at pre-post test to exercise group, general walking exercise group did not change significantly. however, power walking exercise group did change significantly. and At sway distance, two group showed significant changes. 2) In compared Static balance between the groups sway area and sway path at pre-post test, two group showed significant changes. 3) In compared dynamic balance of center distance at pre-post test to exercise group, general walking exercise group was no significant difference in all directions. power walking exercise group was significant difference in all directions. 4) In compared dynamic balance between the groups sway area and sway path at pre-post test, there was no significant difference in leftward, rightward, forward directions and was significant difference in backward, overall direction. Therefore, power walking exercise can be recommended promote balance.

• Physical Therapy Rehabilitation Science
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• v.10 no.4
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• pp.470-478
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• 2021

Objective: This study aimed to determine the effect of proprioceptive neuromuscular facilitation (PNF) balance exercise on the ability to balance and walk in patients with hemiplegia caused by stroke. Design: A randomized controlled trial Methods: Following baseline measurements, patients (n=24) with hemiplegia caused by stroke were randomized into two groups: the PNF balance group (n=12) that received PNF balance exercise and the balance group (n=12) that received general balance exercise. Each group joined the intervention for 30 minutes, 5 times per week for 6 weeks. Both groups performed the Timed Up and Go test (TUG) and Berg Balance Scale (BBS) for balance, as well as the 10-meter walking test (10MWT) and 6-minute walk test (6MWT) for walking. The data were collected both before and after the intervention. The paired t-test was used to compare the post-intervention changes compared with pre-intervention data. An independent t-test was used to analyze the differences in the dependent variables between the two groups. Results: After the 6-week intervention, both groups showed significant improvements in balance (TUG, BBS) and walking (10MWT, 6MWT) parameters (p<0.05). The patients in the PNF balance group showed greater improvements in balance (TUG, BBS) and walking (10MWT, 6MWT) than those in the balance group (p<0.05). Conclusions: PNF balance exercise shows improvements in balance and walking parameters in patients with hemiplegia caused by stroke.

• The Journal of Korean Physical Therapy
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• v.26 no.5
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• pp.372-378
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• 2014

Purpose: The aim of this study was to evaluate the effect of side walking training with an elastic-band on gait and balance ability of stroke patients. Methods: Twenty three patients with stroke participated in the study. Participants were randomly assigned to the side walking with elastic-band group (n=7), the side walking without elastic-band group (n=8), and the walking on the treadmill group (n=8);. 10 m walking test (10MWT), Dynamic Gait Index (DGI), Berg Balance Scale (BBS), and modified Functional Reach Test (mFRT) were performed for evaluatione of pre- and post-intervention in gait and balance ability of participants. Results: Significantly differences in 10 MWT, DGI, BBS, and mFRT were observed between pre- and post-intervention in three groups (p<0.05). Improvement of pre- and post-intervention of mFRT showed significant difference (p<0.05). The highest rate of change was observed in the side walking with elastic-band group and rate of change showed in the order of the side walking without elastic-band group, walking on the treadmill group. Conclusion: This study suggests that side walking training with an elastic-band may help to improve gait and balance ability of stroke patients.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.18 no.2
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• pp.67-75
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• 2012

Background: Hemiplegic patients have the problems of the balance and weight shifting to the affected leg in walking. The aim of this study was to investigate the effect of unilateral stepping exercise combined with auditory feedback on balance and walking ability of the hemiplegic patients. Methods: Thirty hemiplegic patients were allocated in study group (n=15) or control group (n=15). General exercise and weight supporting exercise were conducted for the control group, and general exercises and unilateral stepping exercise combined with auditory feedback were conducted for the study group. Exercise were conducted three times a week for six weeks. Balance ability was measured by Berg Balance Scale (BBS), postural assessment scale for stroke (PASS), and performance-oriented mobility assessment (POMA). Walking ability was measured by time up and go test (TUG), 10m walk test (10mWT), and six minutes walk test (6MWT). Results: Balance and walking ability were significant increased in both group (p<.05). Balance and walking ability of the study group were more increased than that of the control group (p<.05). Conclusions: Unilateral stepping exercise combined with auditory feedback is more effective than weight supporting exercise to increase on balance and walking ability for the hemiplegic patients.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.622-628
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• 2009

A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.

• Journal of Korean Physical Therapy Science
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• v.28 no.2
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• pp.1-9
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• 2021

Background: The requirements for postural and motor control in backward walking training (BWT) may improve balance and walking speed in patients with acute stroke. The aim of this study was to analyze the effect of BWT on balance, balance confidence, and fall efficacy in this population. Design: Randomized controlled pilot trial. Methods: This study included 14 subjects with acute stroke (onset of illness less than one month). They were randomly allocated to a BWT (n=7) or forward walking training (n=7) group and observed five times in a week for a period of two weeks. Measurements were taken before and after the experiment using the Berg balance scale (BBS), Activities-specific balance confidence scale (ABC), and Fall efficacy scale (FES). Results: The BBS, ABC and FES scores obtained in both groups after the experiment were significantly higher than those before the experiment (p<0.05). In addition, the BBS, ABC, and FES scores in the experimental group were significantly higher than those in the control group (p<0.05). Conclusion: These findings indicate that BWT improved balance and balance confidence and decreased the risks of fall in patients with acute stroke. Further study is needed to better understand the effects of backward walking in acute stroke patients.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.1
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• pp.59-69
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• 2011

Purpose : The purposes of this study were to find correlations among Fugl-Meyer Assessment Scale, walking velocity, walking asymmetry and balance ability. Methods : The study sample consisted of 50 stroke patients referred to the Department of Rehabilitation Medicine in the Sanggye Paik, Ilsan Paik, Seoul Paik, and Dobong Hospital. All subjects were ambulatory with or without an assistive device. All participants were assessed on Fugl-Meyer Assessment scale and walking velocity, walking asymmetry. The data were analyzed using independent t-test, ANOVA, and multiple regression. Results : The results revealed that upper extremity coordination, balance and pain items of Fugl-Meyer Assessment scale were significantly correlated with walking velocity and upper extremity and upper extremity motor and balance items of Fugl-Meyer Assessment scale were significantly correlated with walking asymmetry. Fugl-Meyer Assessment scale was not significantly correlated with Static Balance Index, Dynamic Balance Index and Weight Distribution Asymmetry Index. Their power of explanation regarding comfortable walking velocity and comfortable walking asymmetry were 60.3%, 42.5% respectively. Conclusion : These results showed that Fugl-Meyer Assessment scale is significantly correlated with walking velocity, asymmetry and not significantly correlated with balance ability. Therefore Fugl-Meyer Assessment scale is an appropriate assessment tool to predict walking ability of patients with stroke. Futher study about walking velocity and asymmetry by change of Fugl-Meyer Assessment scale is needed using a longitudinal study design.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.73-81
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• 2012

Purpose: The aim of the present study was to measure the standing balance symmetry of stroke patients using a force-plate with computer system, and to investigate the correlation between the standing balance symmetry and that of the walking function in stroke patients. Methods: 48 patients with stroke (34 men, 14 women, $56.8{\pm}11.72$ years old) participated in this study. Static standing balance was evaluated by the weight distribution on the affected and the nonaffected lower limbs, sway path, sway velocity, and sway frequency, which reflected the characteristic of body sway in quiet standing. Dynamic standing balance was evaluated by anteroposterior and mediolateral sway angle, which revealed the limit of stability during voluntary weight displacement. Symmetry index of static standing balance, (SI-SSB) calculated by the ratio of the affected weight distribution for the nonaffected weight distribution, and symmetric index of dynamic standing balance (SI-SDB) by the ratio of the affected sway angle for the nonaffected sway angle. Functional balance assessed by a Berg balance scale (BBS), and the functional walking by 10m walking velocity, as well as the modified motor assessment scale (mMAS). Results: Static balance scales and SI-SSB was the only correlation with BBS (p<0.05). Dynamic balance scales and SI-DSB, not only was correlated with BBS, but also with 10m walking velocity and mMAS (p<0.01). Additionally, there was a significant difference between SI-SSB and that of SI-DSB (p<0.01). Conclusion: The balance and the walking function relate to real life in the stroke showed strong relationships with the dynamic standing balance symmetry in the frontal plane and the ability of anterior voluntary weight displacement in sagittal plane.

• The Journal of Korean Physical Therapy
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• v.21 no.4
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• pp.17-22
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• 2009

Purpose: The goal of this study was to investigate the effect of core strength exercises on the balance control and walking ability of stroke patients. Methods: Twelve stroke patients participated in this study. These patients were divided into two groups (a core stability group and a control group). There were 6 subjects in each group. They participated in core strength exercises for 3 weeks. These exercises included The Timed Up and Go Test (TUG). Messen Trairuieren Dokumentieren (MTD) Systems for balance and walking were measured and compared before and after the treatment. Results: First, core strength exercises improved balance control of patients with stroke by increasing weight shifting to the affected side. Second, core strength exercises improved the walking ability of patients with stroke by reducing the TUG score. Third, there was a significant correlation between balance control and walking. Conclusion: Core strength exercises are effective for improving both balance control and walking.