• Proceedings of the KSME Conference
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• 2008.11a
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• pp.888-893
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• 2008

In This paper proposes the control algorithm for quadruped robots on irregularly sloped uneven surface. Body balance is important in stable running locomotion. Since the body balance is determined by the forces applied at the feet during touchdown phase, the ground reaction force is controlled for stable running. To control the forces at each foot, the desired force is generated. The generated desired force is compared with actual contact force, then, the difference between them modifies the foot trajectory. The desired force is generated by combination of the rate change of the angular and linear momentum at flight. Then the rate change of momentum determines each force distribution. The distribution of the force is carried out by fuzzy logic. The computer simulation is carried out with the commercial software RecurDyn$^{(R)}$. Dynamic model simulation program show that the stable running on the irregularly sloped uneven surface are accomplished by the proposed method.

• Journal of Convergence for Information Technology
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• v.10 no.9
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• pp.215-221
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• 2020

This study intends to evaluate the balance ability of Korean adults in their 20s and create balance indicators using digital equipment(FRA 510 S). The study participants participated in 50 men and women in their 20s without musculoskeletal and nervous system diseases. For data analysis, Repeated Measures ANOVA was used. As a result of the study, it was confirmed that the movement of the body weight was higher when the eyes were closed and the test was performed than when the eyes were opened on a flat floor and a balance pad(47cm×39cm×5.5cm). And there was no difference according to the gender of men and women. In a future study, it is considered that the balance ability of normal elderly people will be evaluated, and the balance index of normal adults in Korea will be created and applied to the evaluation of patients with impaired balance ability.

• Journal of International Academy of Physical Therapy Research
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• v.5 no.1
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• pp.683-690
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• 2014

This study purposed to provide a scientific base for understanding the effect of therapeutic intervention using motivation on chronic stroke patients' balance and determining whether it is applicable as a new therapeutic intervention. For this study, we sampled 38 chronic stroke patients, and divided them randomly into a motivation training group(n=20) and a control group(n=18). To the control group was applied neurological physiotherapy 5 times a week, and 30 minutes each time, and to the motivation training group was applied neurological physiotherapy and then, additionally, a Nintendo Wii-Fit program 3 times a week, and 30 minutes each time. Before and after the experiment, the subjects' dynamic balance was measured with functional reach test(FRT), timed up & go test(TUG), and 10m gait test, and their static balance was measured with the Romberger Test. When dynamic balance ability was compared between before and after the experiment and between the motivation training group and the control group, significant difference was observed in the results of FRT, TUG, and 10m walking test between before and after the intervention(p<.05). As to static balance, in addition, body balance movement distance was not significantly different. Therapeutic intervention using dynamic motivation was found to be more effective than the control group in improving dynamic balance.

• Journal of Korean Physical Therapy Science
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• v.27 no.2
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• pp.13-24
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• 2020

Background: This study evaluates physical function, balance, and cognition rehabilitation motivation. Design: Cross-sectional study. Methods: The subjects include 67 stroke patients to measure physical function, balance, and cognition rehabilitation motivation. For evaluation of physical function, Manual Muscle Test, Range of Motion, Modified Ashworth Scale for spasticity, grasping power, and balance was measured using Functional reach test (FRT), Berg Balance Scale (BBS). For evaluating Cognition, Korean-Mini Mental State Examination, motivation for rehabilitation scale was used to measure for motivation. Results: The results of this study that the moderating effect of rehabilitation motivation was significant in the effect of physical function on BBS (p<0.01), The moderating effect of rehabilitation motivation was significant in the effect of FRT on physical function (p<0.01), The moderating effect of external motivation was also significant in the effect of FRT on physical function (p<0.01). However, the results of the rehabilitation motivations generally divided into three groups (Lower, Average, Upper) and all three results were statistically significant only in groups of average and lower. Conclusion: This study confirms that the rehabilitation motive has demonstrated significant adjustment effects between the body function and balance. In this study, physical function, balance and cognition were significantly correlated with each other, and rehabilitation motivation proved a significant moderating effect between physical function and balance.

• Physical Therapy Rehabilitation Science
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• v.12 no.1
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• pp.62-71
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• 2023

Objective: Stroke patients need the training to adjust their posture and maintain balance is necessary to restore movement function, and unstable support training is one of the appropriate training. In this study, a systematic review and meta-analysis were conducted to find out the effects of unstable surface training on balance and gait in stroke patients. Design: Systematic review and meta-analysis Methods: After creating a search expression referring to MeSH and EMTREE, the literature from 1976 to February 2022 was searched in the databases of PubMed, EMBASE, and Cochrane Library CENTRAL. A total of 331 studies were searched from three databases, and 11 studies were finally selected according to the inclusion criteria. Unstable surface training included studies using balance trainer, Whole-body vibration, and sand surfaces. Results: The results were found to be d=2.28 (p=0.02) and the effect size was 0.36 (95% CI: 0.05, 0.67) on the Berg Balance Scale. In the Kinesthetic Ability Trainer static balance, d=2.59 (p=0.01) and the effect size was 1.01 (95% CI: 0.24, 1.78). Timed Up and Go test showed that d=2.18 (p=0.03) and the effect size was 0.38 (95% CI: 0.04, 0.72). At the gait speed, d=0.99 (p=0.32) and the effect size was 0.15 (95% CI: -0.15, 0.45). In the 6-minute walk test, d=0.14 (p=0.89) and the effect size was 0.04 (95% CI: -0.47, 0.55). Conclusions: In this study was found that training was effective in balance if it became unstable in standing posture. Therefore, unstable surface training can be used to improve the balance of stroke patients in clinical practice.

• 대한치과보철학회:학술대회논문집
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• 2001.11a
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• pp.45-45
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• 2001

• Journal of Preventive Medicine and Public Health
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• v.6 no.1
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• pp.1-6
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• 1973

• Journal of the Korean Society of Food Science and Nutrition
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• v.22 no.5
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• pp.531-538
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• 1993

A 4-week energy balance study was conducted to estimate the energy expenditure (EE) of 16 primary school age boys and girls, 8 to 12 year age, by measurement of energy intakes and changes in body energy (BE) content (intake / balance technique), keeping their normal living pattern and eating behavior. Gross energy intake (GE) and fecal energy (FE) loss was measured by bomb calorimetry. Urinary energy (UE) loss was calculated from nitrogen excreted. Fat mass (FM) was determined from body density estimated from skinfold thickness. Mean constitutional ratio of carbohydrate, protein and fat for the total energy intake was 10.1 $\pm$1.8%, 12.2$\pm$0.1% and 17.1$\pm$2.0% for the boys and 74.0$\pm$1.7%, 10.7$\pm$0.3% and 15.3$\pm$0.5% for the girls, respectively. Fecal energy loss was 5.1% and 4.5% proportion of the gross energy intake for the boys and girls, respectively. Mean daily metabolizable energy estimated by subtract feral and urinary energy loss was 1862$\pm$15kcal for the boys and 1627$\pm$20kcal for the girls. Total body energy change estimated from body composition change over 28 days was increased 1524$\pm$539kcal for the boys and 3622$\pm$718kcal for the girls. Mean daily energy expenditure was 1812$\pm$37kcal(52 $\pm$2kcal/kg of body weight) for the boys and 1487$\pm$25kca1 (52$\pm$2kcal/kg of body weight) for the girls.

• Journal of the Korean Society of Food Science and Nutrition
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• v.21 no.1
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• pp.1-8
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• 1992

A 4-week energy balance study was conducted to estimate the energy expenditure (EE) of 7 high school age men, 16 to 18 year of age, by measurement of energy intakes and changes in body energy (BE) content (intake/balance technique), keeping their normal living pattern and maintenance body weight. Gross energy intake (GE) and fecal energy (FE) loss was measured by bomb calorimetry, Urinary energy (UE) loss was calculated from nitrogen excreted. Fat mass (FM) was determined from body density estimated from skinfold thickness. 1) Mean constitutional ratio of carbohydrate, protein and Int for the total energy intake was $73.7{\pm}0.3%$, $13.5{\pm}0.3%$ and $12.9{\pm}0.5%$, respectively. 2) Fecal energy loss was 2.4% proportion of the gross energy intake. 3) Mean daily metabolizable energy estimated by subtract fecal and urinary energy loss was $2582{\pm}61\;kcal$. 4) Total body energy change estimated from body composition change over 28 days was decreased $4309{\pm}1837kcal$. 5) Mean daily energy expenditure was $2736{\pm}59kcal\;(46{\pm}1kcal/kg$ of body weight).

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.9
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• pp.5888-5896
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• 2015

The purpose of this study was to examine the effect of Yoga and Pilates training on the obesity indexes, muscle mass in each body part and physical fitness of male college students in an effort to provide some clinical information on exercise prescription. The subjects in this study were 20 selected obese male students. A yoga group and a pilates group were organized with 10 students each, and the training was provided for 12 weeks, 5 times a week, 90 minutes each. The findings of the study were as follows: First, both of yoga and pilates made significant differences to obesity indexes(an increase in skeletal muscle mass, a decrease in BMI, a decrease in body fat rate and a decrease in WHR), to muscle mass in each body part(an increase in muscle mass on the right arm, left arm, trunk, right leg, and left leg), and to physical fitness(an increase in lower extremity muscle strength, muscular endurance, flexibility, left balance and right balance). Second, pilates exercised a more signifiant influence than yoga on an increase in skeletal muscle mass, the improvement of muscle mass in each body part(an increase in muscle mass on the right arm, left arm, trunk, right leg and left leg), and the improvement of balance(left and right). Third, yoga had a more significant impact on a decrease in BMI, body fat rate and WHR. Given the findings of the study, yoga and pilates seem to be efficient exercise programs to improve the obesity indexes of obese male college students and promote their health.