• Journal of The Korean Society of Integrative Medicine
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• v.8 no.4
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• pp.29-38
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• 2020

Purpose : The purpose of this research was to investigate the effects of barefoot walking on the sandy beach on pain intensity, disability, motor function, sleep satisfaction, and quality of life in the elderly with low back pain (LBP). Methods : A single-blinded randomized controlled trial was conducted involving 32 elderly with LBP who underwent sand walking barefoot (intervention, n=16) or with sneakers (control, n = 16). Both walking methods were carried out for 30 minutes per day, three times a week for four weeks. Pain intensity and disability were assessed using the visual analog scale and Oswestry disability index, respectively. Balance and gait were evaluated using the Berg balance scale and timed up and go test, respectively. Sleep satisfaction was quantified with the Verran and Snyder-Halpern sleep scale. Finally, quality of life was assessed through the WHO quality of life scale's abbreviated Korean version. Results : Compared with the control group, the intervention group showed significant differences in pain intensity (p=.005), disability due to LBP (p=.002), static balance ability (p=.003), dynamic balance ability (p=.002), and sleep satisfaction (p=.017). There was no significant difference in the quality of life between the two groups. Conclusion : Barefoot walking on a sandy beach is significantly effective in improving pain, disability due to LBP, balance ability, and sleep satisfaction in the elderly with LBP. Further studies with larger sample sizes and longer intervention periods must to be conducted to generalize using barefoot walking in LBP management.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2350-2355
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• 2005

In this paper, we introduce biped walking robot which can static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and 22 RC servo motors are used to actuate. Before made an active algorithm, we generated the motions of robot with the motion simulator which developed using by C language. The two dimension simulator is Based on the inverse kinematics and D-H transform. The simulator implements various motions as inputted the ankle's trajectory. Also we developed a simulator which is applied the principle of inverted pendulum to acquires the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle and pelvis when the robot lifts up its one side leg during the working. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which connected with laptop computer by serial cable.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.477-479
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• 2021

Objectives :This study aimed to determine whether obstacle walking training can improve gait and balance in stroke patients. Methods : Obstacle walking training and Flatland walking training was accordingly applied in each group for 30 minutes per session, 5 times per week for 4 weeks. Gait was assessed using a 10MWT and Balance was FRT, respectively, before and after training. Results : 10MWT and FRT were significantly increased in experimental groups after training (p<.05) but there were no significant difference in control group. There were a significant difference between the groups.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• The Journal of the Korea Contents Association
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• v.9 no.2
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• pp.233-241
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• 2009

The purpose of this study was to evaluate the effects of proprioceptive exercise on walking velocity, activities of daily living(ADL) and depression in elderly women. This study was nonequivalent control group pre-post test design. Subjects were divided into two group(exercise group=17, control group=15). Experimental group conducted proprioceptive exercise program for eight-week. Walking velocity was assessed by 10m-walk test and depression and ADL were assessed by questionnaire. The collected data analyzed by Wilcoxon singed rank test and Mann-Whitney U test. The exercise group significantly improved walking velocity. But control group changes were negligible. The program was effective on walking in elderly women.

• The Journal of Korean Physical Therapy
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• v.24 no.2
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• pp.143-150
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• 2012

Purpose: This study was intended to discover the effect of the turning training on figure of 8 tract on stroke patients' static and dynamic balance, as well as walking. Methods: A total of 42 stroke patients participated in this study. The training group was trained on the figure of 8 tract, while the control group was trained on the straight path for 30 minutes per day, for 4 weeks. Berg balance scale was used to measure the balance of the patients, before and after the training, and Good balance system was used to measure the sway speed and the distance of COG while standing. To measure the ability of walking, TUG and FSST were also used. Results: There were significant increases in the average score of Berg balance scale, in both groups after the training, and also significant difference between both groups were observed. The training group showed significant differences in the static balance ability, as well as anteroposterior and mediolateral sway speed. Further, there were significant increases in the dynamic balance ability, COP total distance, and TUG in both groups. The results showed more differences in comparing the control group with that of the training group. In FSST, there was no change in the control group, but there was a significant increase in the training group. Conclusion: Turning training on figure of 8 tract in stroke patients significantly increased the static and dynamic balance and walking ability. Based on the results, it can be seen that the training on the figure of 8 tract can influence the ability of balance and walking, which can lead to appropriate reactions to the change of environment and various tasks. Thus, it is assumed that turning training on figure of 8 tract as a means of improving the condition of stroke patients can be a meaningful program.

• PNF and Movement
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• v.22 no.1
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• pp.13-21
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• 2024

Purpose: This study investigated the effects of side walking training combined with squats on the balance and gait ability of stroke patients. The purpose of this study was to provide fundamental data regarding the use of side walking training combined with squats among stroke patients. Methods: Thirty patients with stroke were randomly divided into an experimental group (n=15) that underwent side walking training combined with squats and a control group (n=15) that performed general rehabilitation exercises. Both groups performed their respective exercises for 30 minutes, five times a week for six weeks. Balance was assessed using the functional reach test and timed up and go test, while gait ability was evaluated using the 10-meter walk test. A paired t-test was performed to compare within-group changes before and after the intervention. Differences between the experimental and control groups were analyzed using an independent t-test. For all tests, the level of statistical significance was set at α=0.05. Results: After the exercise, significant within-group improvements in balance and gait ability were observed in both the experimental and control groups (p<0.05). There was also a significant between-group difference in balance and gait ability following the intervention (p<0.05). Conclusion: While general rehabilitation is commonly employed in treating stroke patients and is relatively effective, the application of side walking training combined with squats may offer additional benefits in terms of improving balance and gait ability in these patients.

• The Korean Journal of Physiology and Pharmacology
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• v.28 no.4
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• pp.295-302
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• 2024

Walking can have a positive impact on cognitive function in adolescents. This study aimed to compare the effects of walking with sneakers and barefoot on cognitive ability in adolescents. Fifty-nine adolescent male students were included in the study and assigned to the control (n = 20), sneaker (n = 19), and barefoot (n = 20) groups. The barefoot and sneakers group performed a 40-min walking exercise four times a week for 12 weeks during the morning physical activity time, while the control group performed self-study. Electroencephalogram (EEG) and brain activity variables were measured before and after the exercise program. The results showed that after 12 weeks, the barefoot group had a significant decrease in Gamma and H-beta waves and a significant increase in sensorimotor rhythm (SMR) and Alpha waves. Conversely, the control group showed a significant decrease in SMR waves and increase in Theta waves. The sneaker group showed a significant decrease in SMR waves alone. In an eyes-open resting state, the barefoot group showed a significant increase in H-beta, M-beta, SMR, and Alpha waves. The barefoot group also had a significant increase in cognitive speed and concentration and a significant decrease in brain stress. Taken together, barefoot walking can effectively enhance cognitive ability in adolescents, as demonstrated by the significant variation in EEG activity. This research highlights the potential benefits of barefoot walking as a simple and effective form of exercise for enhancing cognitive function in adolescents.