• The Journal of Korean Physical Therapy
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• v.16 no.3
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• pp.142-151
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• 2004

The purpose of this study was to determine the validity and the reliability of the WISCI II to ascertain its value in the walking function evaluation of spinal cord injury patient. The WISCI II consists of 20 variables with a total valus ranging from 6 to 20 score. A group of 23 spinal cord injury patient were included in this study. To determine the validity, kappa statistics between the WISCI II and SCIM II were measured. The result of this study are as follows: 1) In the validity study, the kappa statistics between the WISCI II and SCIM II were 0.79 and 0.84 for an initial total score and a discharge total score respectively, indicating a reasonable agreement between the two test. 2) In the reliability study, the Cronbach's alpha coefficient was 0.83 and 0.95 for total score indicating a good internal consistency. The finding suggest that the WISCI II demonstrated an acceptable validity and reliabilit for the evaluation of walking function capacity of spinal cord injury patient in clinical practice.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.04a
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• pp.414-421
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• 2001

Recently, the damping effect of building structures are greatly reduced because the use of non-structures members as like curtain wall are decreased and large open space are in need for the service of buildings. Assembly and office buildings with a lower natural frequency have a higher possibility of experiencing excessive vibration induced by human activities as like jumping, running and walking. These excessive vibration make the occupants uncomfortable and the serviceability deterioration. The common method of application of walking loads for the vibration analysis of structures subjected to walking loads is to inflict a series unit walking load and a periodic function at a node. But this method could not consider the moving effect of walking. In this study, natural frequency and damping ratio of plate structure are evaluated by heel drop tests. And new application of equivalent walking loads are introduced for vibration analysis of real slab system subjected to walking loads. The response obtained from the numerical analysis are compared well to the results measured by experimental tests. It is possible to efficiently analyze the vibration of floor which is subjected to walking loads by applying equivalent walking loads.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.8
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• pp.1285-1295
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• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• The Journal of Korean Physical Therapy
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• v.31 no.4
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• pp.169-175
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• 2019

Purpose: This study examined the effects of a spiral elastic band for the walking function on patients with chronic stroke. Methods: Twenty one chronic stroke patients were recruited and divided randomly into the experimental group and control group. Both groups performed mat exercises and gait training three times a week for four weeks, and gait training was applied to the experimental group with additional spinal elastic bands. Results: The results of this research were as follows. The 10MWT measurements showed that the velocities within and between the groups decreased significantly, and the results of TUG showed significant decreases in velocities after the interventions in both the control group and experimental group. On the other hand, there were no significant differences between the control and experimental group. The FRT measurements showed significantly increased stride lengths within and between the groups. The measurements of the stride length, stride velocity, cadence, and step length showed significant improvement within the groups, but there was no significant difference between the groups. The measurement of stance showed that the non-paralytic patients had a significant increase in the rates within the groups and a significant difference was observed between the groups. Conclusion: Spiral elastic bands are an effective intervention method for rehabilitation programs to enhance the walking function in the clinical field. A treatment needs to be developed for patients with walking problems due to various disorders by investigating the action mechanism of spiral elastic bands.

• 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 the Korea Contents Association
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• v.9 no.10
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• pp.427-435
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• 2009

The aim of this study was to examine the effect of a brisk walking intervention for 8weeks on isokinetic muscular function factor(strength, power, endurance). The following results were found from the current study: First, Isokinetic muscle function(strength, power, endurance) on $60^{\circ}/sec$ in extension and flexion was significant exercise group and interaction in left knee flexion and right knee extension(P<.00l). Secondly, Isokinetic muscle function(strength, power, endurance) on $120^{\circ}/sec$ in extension and flexion was significant exercise group and interaction in left knee flexion and right knee extension(P<.001). Thirdly, Isokinetic muscle function(strength, power, endurance) on $180^{\circ}/sec$ in extension and flexion was significant exercise group and interaction in left knee flexion and right knee extension(P<.001). Considering the above result of the study the brisk walking had more improvement knee flexor and extensor muscular power. Therefore the brisk walking in the study can be proposed as effective plan to prevention hurt from a sarcopenia and to raise quality in life.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.4
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• pp.11-20
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• 2020

PURPOSE: This study examined the effects of Nordic walking on depression and the physical function of elderly patients with a high risk of depression. METHODS: This study was a blinded randomized allocation study; 32 elderly were assigned to a Nordic walking group (n = 17), consisting of 60 min Nordic walking (including warming up 5 min, warming down 5 min, and Nordic walking 50 min) two days per week for 12 weeks and general leisure group (n = 15), consisting of 60 min leisure program community center. The pre and post 12-week program, depression test, muscle strength (including grip test, and 30sec sit to stand), and balance (including Functional Reach test, and One Leg Standing test) were measured. A Mann-Whitney U test was used to compare within the group, and a Wilcoxon signed-rank test was used to compare between the groups. RESULTS: After 12 weeks, only the Nordic walking group showed significant improvement in depression, muscle strength, and balance (p < .05). In the general leisure group, however, the left grip strength and Functional Reach Test (FRT) showed a significant decrease. The Nordic walking program was better than the general leisure group, and a significant difference was observed in depression, muscle strength, and balance between the two groups (p < .05). CONCLUSION: Nordic walking was effective for the elderly with a high risk of depression. Therefore, Nordic walking may be an option for preventing elderly mental disorders and functional improvement.

• Journal of Korean Academy of Nursing
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• v.36 no.1
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• pp.94-102
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• 2006

Purpose: The purpose of this study was to confirm the effects of a moderate and fast walking exercise program on middle-aged women's fatigue, serum lipids and immunoglobulins. Method: A non-equivalent control group pretest-posttest design was used for this study. The experiment was conducted for 10 weeks from May 17th to July 25th, 2004 with 44 middle-aged women, consisting of 16 for the moderate walking group, 15 for the fast walking group and 13 for the control group. Result: Walking exercise at both a moderate and fast speed was effective in middle-aged women in reducing fatigue and serum lipids. It was also revealed that extended periods of exercise was more effective in decreasing fatigue while for reducing serum lipid, high intensity exercise was more effective. In this study, serum immunoglobulins were reduced after moderate and fast walking exercise but its cause was not fully understood so further research is needed. Conclusion: This study helps us recognize the importance of regular exercise and promotes motivation to exercise for a healthy life among middle-aged women.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.