• 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.

• Physical Therapy Rehabilitation Science
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• v.8 no.3
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• pp.141-145
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• 2019

Objective: The purpose of this study was to compare walking conditions (straight line and curved path) on walking patterns in persons who had experienced hemiplegic stroke and to determine whether if they adapt their walking pattern and performances according to changes in environmental conditions. Design: Cross-sectional study. Methods: Forty-four hemiplegic stroke survivors participated in this study. This study measured walking performance in three different walking conditions, such as straight walking, the more-affected leg in the inner curve walking, and less-affected leg in the inner curve walking conditions, and a 2-dimentional gait analysis system was used as a primary measurement. This study also measured secondary clinical factors including the Timed Up-and-Go Test, the Trunk Impairment Scale, and the Dynamic Gait Index. Results: After analyzing, cadence and step length of the less-affected side, stride length in the more-affected side, and stride length in less-affected side were significantly different among the three different walking conditions in this study (p<0.05), but other temporospatial parameters were not significant. Cadence was the largest in the straight walking condition. Step length in the less-affected side, stride length in the more-affected side, and stride length in less-affected side were also the longest in the straight walking condition. Conclusions: The results of the study suggest that hemiplegic stroke survivors show walking adaptability according to changes in walking demands and conditions, and moreover, cadence and step and stride lengths were significantly different between straight and curved walking conditions.

• 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.

• PNF and Movement
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• v.16 no.1
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• pp.93-103
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• 2018

Purpose: The aim of this study was to investigate the effect of goal-oriented side walking training on balance and gait in chronic stroke patients. Methods: This study involved 18 chronic stroke patients who were divided into an experimental group (n=9) and a control group (n=9). The experimental group performed goal-oriented side walking training, and the control group performed general side walking training. The walking variables assessed were walking speed, stride length, and 10-m walking time. The balance variables assessed were foot pressure, timed up and go test (TUG), and Berg balance scale (BBS). These variables were measured before and after the exercise. Wilcoxon's signed-rank test was used to compare the participants' performances before and after the intervention in both groups. The Mann-Whitney U test was conducted for between-group comparisons after the intervention. Statistical significance was set at ${\alpha}=0.05$ Results: Walking speed, stride length, 10-m walking time, TUG, and foot pressure were significantly improved in both groups after the exercise (p<0.05). The between-group comparison showed a significant improvement in the goal-oriented side walking group (p<0.05). However, there were no significant between-group differences in 10-m walking times (p>0.05) and BBS (p=0.05). Conclusion: The results revealed that goal-oriented side walking training was effective in improving the balancing and walking ability of chronic stroke patients.

• Journal of The Korean Society of Integrative Medicine
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• v.1 no.1
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• pp.1-9
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• 2013

Purpose : The purpose of this study is to investigate the impact on the ability to walk, balance after side walking training of hemiplegic patients caused by stroke. Method : The subjects were training before stroke onset whether more than one year elapsed 15 patients with chronic stroke patients, and Berg balance scale(BBS) and Timed up and go test(TUG), Functional reaching test(FRT), 20m walking time 200m walking time were measured and recorded. Training period, a total of three weeks, and training frequency circuit training times 10 minutes per training, 5-minute break, the 10-minute training total 25-minute training was conducted. Gait line of 3m to be based on the patient's side walking, and the risk of falling compared to the presence of the experimenter trained under was carried out. Result : 1. TUG, 2. 20m walking time, 3. 200m walking time 4. FRT, 5. All showed significant improvement in BBS. Judging from the results, the side walking training conducted three weeks due to chronic stroke hemiplegic patient's ability to balance and showed a positive effect on the improvement of walking ability. Conclusion : Accordingly, it was more effective to train hemiplegic patients with chronic stroke on side walking.

• Journal of the Korean Academy of Clinical Electrophysiology
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• v.5 no.1
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• pp.11-20
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• 2007

The purpose of this study were to analysis on quality properties of lower extremity of patient with stroke by the existence of the independent walking. We recruited fourteen adults after stroke(7 male, 7 female; mean age, 64y) for our study. The subjects were divided into two groups; independent walking group(3 male, 3 female) and non-independent walking group(4 male, 4 female). We used in this study included a B-mode ultrasonography scanner with a 7.5 MHz linea probe. During the experiment, the subject was seated in the chair. The echogenicity(density, white area index; WAI) of the tibialis anterior and rectus femoris muscles were measured on both sides of the leg. In both of the density and WAI, the tibialis anterior muscle were significant differences between paratic side and non-paratic side, the independent walking and non-independent walking group. However, in both of the density and WAI of the rectus femoris muscle were only significant differences between paratic side and non-paratic side. This study showed that stroke and the independent walking have influenced on quality properties of lower leg. Especially, the independent walking has influenced on the tibialis anterior muscle.

• The Journal of Korean Physical Therapy
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• v.23 no.3
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• pp.21-27
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• 2011

Purpose: The purpose of the present study was to examine, in stroke patients, differences between backward walking training applied on a treadmill and the same training applied on the ground. Methods: Twenty seven stroke patients were divided into a treadmill backward walking group of 14 patients and a ground backward walking group of 13 subjects. Each group performed their respective training method for 8 weeks (15 min per day, 4 days a week). Walking ability was measured using a 10 m MWS (Maximal Walking Speed) test and the GAITRite system to examine changes in walking. Cadence, stridelength, step time, step length and symmetry index of the less affected side were measured to examine changes in stance phase of the lower extremity of the more affected side. Results: 10 m MWS, cadence, stride length, step time and step length of the less affected side significantly increased and symmetry index significantly decreased after training in both groups. The treadmill backward walking group experienced a significantly greater increase in step time and step length and a significantly greater decrease in symmetry index than the ground backward walking group. Conclusion: The two walking training methods were effective for improving stability in stance phase of the lower extremity of the more affected side, but the treadmill method was more effective. The present study is meaningful in that it analyzed the effects of backward walking training methods on walking and the differences of the training methods to provide information necessary for effective treatment of stroke patients.

• Quality Improvement in Health Care
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• v.27 no.1
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• pp.43-50
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• 2021

Purpose: The aim of this study was to determine the effect of side walking on balance confidence, falls efficacy and fall risk in acute stroke patients. Methods: The study included 14 patients with acute stroke who were randomly allocated to a side walking group (Experimental group, N=7) and a forward walking group (Control group, N=7). Both groups performed the exercise 5 times a week for 2 weeks. Outcomes were assessed using Korean-Activities-specific Balance Confidence Scale (K-ABC), Korean-Fall Efficacy Scale (K-FES), Korean-Fullerton Advanced Balance Scale (K-FAB). Results: After 2 weeks of training, both groups showed significantly improved ABC, FES, FAB (p<.05 in both groups). However, the ABC, FES, FAB in the experimental group was significantly better than in the control group (p<.05). Conclusion: These findings indicate that side walking training may be effective at improving balance confidence and decreasing fall down risk in early stroke patients. Therefore, side walking training may be recommended as an intervention in reducing the incidence of falls in acute stroke patient.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.3
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• pp.37-44
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• 2021

PURPOSE: This study examined the effects of functional electrical stimulation (FES) on temporal-spatial gait and the activities of daily living in hemiplegic stroke patients. METHODS: The subjects were 29 hemiplegic stroke patients (57.7 ± 10.3). The patients walked at a self-controlled speed in four states: (1) walking without FES (non-FES), (2) walking with FES on the gluteus medius in the stance phase (GM), (3) walking with FES on the common peroneal nerve and tibialis anterior in the swing phase (PT), (4) walking with both GM and PT. A GAITRite system, Timed-Functional Movements battery, and Timed UP and Go test were used to measure the variables. RESULTS: Significant improvements were observed in all variables of the GM+PT, GM, and PT states compared to the non-FES state (p < .05). There were significant improvements in the GM+PT state compared to GM and PT states (p < .05). Moreover, significant improvements were noted in the single support time on the affected side, backward walking 10ft, and side stepping 10ft on the affected side of the GM state compared to the PT state (p < .05). There were significant improvements in the stride length on the affected side and side stepping 10ft on the unaffected side of the PT state compared to the GM state (p < .05). CONCLUSION: FES is effective in improving the temporal-spatial gait and activities of daily living in hemiplegic stroke patients.

• The Journal of Korean Physical Therapy
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• v.25 no.5
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• pp.297-302
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• 2013

Purpose: This study was conducted in order to investigate the kinematic gait parameter of lower extremities with different gait conditions (level walking, stair, ramp) in hemiplegic patients. Methods: Ten hemiplegic patients participated in this study and kinematic data were measured using a 3D motion analysis system (LUKOtronic AS202, Lutz-kovacs-Electronics, Innsbruk, Austria). Statistical analysis was performed using one-way repeated measure of ANOVA in order to determine the difference of lower extremity angle at each gait phase with different gait conditions. Results: Affected degree of ankle joint in the heel strike phase showed significant difference between level walking and climbing stairs, and toe off phase showed significant difference between level walking and climbing stairs, ramps, and climbing stairs. Affected degree of knee joint showed no significant difference in all attempts. Affected degree of hip joint in the toe off phase showed significant difference between level walking, ramps and stairs, and climbing ramps. Swing phase showed significant difference between sides for level walking and stairs, climbing ramps. Affected ankle joint of heel strike and toe off, and affected hip joint of toe off and the maximum angle of swing phase in the angle was increased. Unaffected side of the ankle joint, knee joint, and hip joint showed a significant increase in walking phase. Conclusion: These findings indicate that compared with level walking, different results were obtained for joint angle of lower extremity when climbing stairs and ramps. In hemiplegia patient's climbing ramps, stairs, more movement was observed not only for the non-affected side but also the ankle joint of the affected side and hip joint. According to these findings of hemiplegic patients when climbing stairs or ramps, more joint motion was observed not only on the unaffected side but also on the affected side compared with flat walking.