• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.626-633
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• 2009

A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.

• 제어로봇시스템학회논문지
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• 제7권8호
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• pp.675-679
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• 2001

This paper presents walking algorithm for a quadruped robot that does not have an upper body. Tilting motion is added to the planned walking trajectory instead of using an extra body segment that is independent on walking trajectory. Area and tracking algorithms are proposed as tilting method and compared with that of off-line tilting and that of no tilting. Computer simulation shows that stability of tilted walking is more improved than that of the usual walking algorithm for general walking paths. It also shows that the tracking method guarantees stability and best mobility.

• 대한물리치료과학회지
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• 제16권2호
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• pp.1-9
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• 2009

Background: The ability for backward walking is considered to be necessary for the neuromuscular control and maintenance of balance in daily ambulatory activity. This study aimed to determine the effect of backward walking training on the walking speed and balance control in patients with hemiplegia. Methods: Fourteen patients with hemiplegia were randomly allocated to an experimental and control groups of seven patients each. For the experimental group, we performed both conventional training and backward walking training, and conventional training only for the control group. The conventional training programs for the 2 groups were conducted for 30 min, twice a day, 5 times a week for 4 weeks, and backward walking training for the experimental group was conducted for 30 min, 3 times a week. The outcomes were assessed using the functional reach test (FRT), timed up-and-go (TUG) Test, and the 10 meter walk time test (10mWT). Result: A comparison of the FRT, TUG test, and 10mWT scores obtained before and after the 4-week treatment revealed statistically significant differences (p<.05) for the experimental group; however, there was no such difference in the case of the control group (p>.05). On assessment after the 4-week treatment, statistically significant differences were noted in the TUG test and 10mWT scores of the experimental group (p<.05). Conclusion: Our findings suggest that backward walking training is an effective clinical strategy for improving the walking speed and functional mobility of patients with hemiplegia.

• PNF and Movement
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• 제8권2호
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• pp.47-55
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• 2010

Purpose : The purpose of present study was to determine effects of a task-oriented circuit training(TOCT) for lower limb on walking ability after stroke. Methods : Twenty one chronic stroke patients participated. Participants were randomly divided into either TOCT group or control group(11 experimental, 10 control). All of participants were in-patients at local rehabilitation centre and had been receiving a traditional rehabilitation program, five days a week. TOCT group have additionally undergone for four weeks, three days a week, the TOCT program but control group was not received any additional program except the traditional rehabilitation program. The 10 m walking test (10MWT), the 2 min walking test (2MWT), the step test (ST) and the figure-8 walking test (F8WT) to measure a walking ability were carried out twice before and after training. Results : After participation in the program, subjects of TOCT demonstrated a significant improvement in the scores of the 10MWT, 2MWT, the ST, the F8WT. The control group had no change on the any tests. After the training, the results to improve significantly in TOCT group compared to post-test of control group were the time of 10MWT and the time and the step of curved walking of F8WT. Conclusion : The present study suggests that the TOCT program may become a useful strategy for enhancing walking ability in the rehabilitation of stroke patients.

• 재활복지공학회논문지
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• 제5권1호
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• pp.17-25
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• 2011

본 논문은 전동 보행보조기의 편의성 향상을 위한 최적의 제어 이득을 찾고 제어 알고리즘을 설계하였다. 최근 노인의 인구가 의료 기술의 발달로 급속히 증가되고 있으며, 다양한 이동형 보행보조기구는 삶의 질을 개선하기 위해 개발되고 있다. 이러한 이동형 제품 중 수동형 보행보조기는 노인의 보행의 힘을 도와주는 전동모터를 가지고 있지 않아 노인들이 충분한 근력이 없기 때문에 경사로 및 문의 문턱 등 고르지 않는 지형에서 이동하는데 제안사항이 있다. 이러한 상황을 극복하기 위해 전동타입의 보행보조기를 개발하였다. 전동형 보행보조기는 수동형과 다르게 사용자가 조작을 해야 모터가 구동되는 구조이다. 이러한 구조는 사용자가 조작을 잘못 하였을 경우 상당한 불편함을 사용자에게 준다. 이러한 전동형 보행보조기를 수동형 보행보조기와 비교하여 조작의 편의성을 판단하고 기준을 만들어 사용자의 편의성에 대하여 제어 값을 변경하면서 사용자 편의성을 개선하였다. 본 논문에서는 보행의지를 인식하고 편의성의 성능을 측정할 수 있는 방법인 햅틱 센서를 소개하며 편의를 개선하는 제어 알고리즘을 제안한다. 또한 편의성의 평가는 COV(Center of Vehicle)와 사용자의 COP(Center of Position)과의 차이의 변화를 통해 상대적인 편의성을 평가하였다. 전동 타입 보행보조기와 새로운 측정방법을 도입하여 모든 과정을 실험을 통하여 확인 하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.323-329
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• 1994

In the systems such as walking robots or high speed operating manipulators, the effect of nonlinear terms is important and can not be neglected. Therefore the application of linear control law to such systems is inadequate. Moreover, because of the mathematical modeling errors the systems may become unstable. In this study, we designed a nonlinear controller with sliding mode scheme, which is robust to the modeling errors and applied this control algorithm to the 5 DOF biped robot system. Throught the computer simulations, we examined walking characteris and walking stability of the 5 DOF biped robot system.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• 대한통합의학회지
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• 제10권3호
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• pp.119-129
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• 2022

Purpose : The purpose of the study was to find out the effects of obstacle walking training according on gait and balance in stroke patients. Methods : Twenty-four stroke patients are randomly assigned to experimental group 1 (n=8), experimental group 2 (n=8) and control group (n=8). Experimental group 1 performed unexpected obstacle walking training, experimental group 2 performed fixed obstacle walking training and control group performed non obstacle walking training for 12 minutes per session, 5 times a week for 4 weeks. The gait analyzer G-walk were evaluated using gait cadence, gait velocity, and stride length, balance was evaluated using FES-K and BBS. Results : In within-group comparison of gait cadence, gait velocity and stride length of change, the experimental 1,2 groups showed significant improvements post intervention (p<.05) but control group showed no significant improvement. In between-groups comparison there was significant difference in the change of gait cadence, gait velocity and stride length pre and post intervention. In within-group comparison of FES-K and BBS scores, the experimental 1,2 groups showed significant improvements post intervention (p<.05) but control group showed no significant improvement. In between-groups comparison there was significant difference in the change of FES-K and BBS scores pre and post intervention (p<.05). Conclusion : Obstacle walking training can improve the gait, function and balance of stroke patients and obstacle walking training is effective for improving gait and balance compared to non-obstacle walking training.

• 성인간호학회지
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• 제25권6호
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• pp.712-724
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• 2013

Purpose: The purpose of this study was to examine the effects of a walking program for office workers in terms of social cognitive theory, walking activities and physiological indexes. Methods: A nonequivalent control group pretest-posttest design was used. The sample consisted of 50 office workers who were identified as having low levels of physical activity according to the International Physical Activity Questionnaire (IPAQ Research Committee, 2005). The participants were recruited from two companies in Seoul. Of the 50 participants, 26 were assigned to the non-equivalent experimental group and 24 to the control group. The walking program consisted of six didactic sessions via e-mail, two individual telecoaching sessions and three support group meetings over ten weeks. Data were analyzed using SPSS 17.0 program. Results: The non-equivalent experimental group reported significantly higher posttest scores in walking activities and adhering to the walking protocol than the control group. There were no differences in reported self-efficacy, outcome expectations, body mass index and blood pressure between the two groups. Conclusion: These findings indicate that a walking program based on social cognitive theory is effective in increasing physical activities for office workers.

• 대한정형도수물리치료학회지
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• 제18권2호
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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.