• Journal of Wellbeing Management and Applied Psychology
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• v.5 no.1
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• pp.1-7
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• 2022

Purpose: This study aimed to investigate spatial and temporal features of motor control in an individual with hemiparesis during the curvilinear gait (CG) and proposed an exercise guideline. Research design, data and methodology: An individual aged 63 with hemiparesis by stroke disease was participated in the study. Autoencoder (AE) was used to extract four motor modules from eight muscle activities of the paretic leg during CG. After extraction, each module of four modules was operationally defined by numbering from M1 to M4 according to spatial and temporal features and compared with results reported in a previous study. Results: As a result, an individual with hemiparesis had motor module problems related to difficulty of weight acceptance (module 1), compensation for the weakness of ankle plantar flexor (module 2), a spastic synergistic pattern (module 3) and difficulty with transition from the swing to stance phase (module 4) in terms of spatial features. Also, a delayed activation timing of temporal motor module (module 2) related to the forward propulsion during CG was observed. Conclusions: Gait rehabilitation for the stroke will need to consider clinical significances in respect of the deterioration of motor module and provide the tailored approaches for each gait phase.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.143-154
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• 2023

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.

• Journal of Convergence for Information Technology
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• v.10 no.2
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• pp.184-192
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• 2020

This study presents a gait analysis method (including time series analysis) using a smart insole as an objective and quantitative evaluating method after lumbar scoliosis surgery. The participant is a degenerative lumbar scoliosis patient. She took 3-min-gait-test four times(before and 8, 16, and 204-days after surgery) and 6-min-gait-test once(204-days after surgery) with smart-insoles in her shoes. Each insole has 8-pressure sensors, an accelerometer, and a gyroscope. The measured values were used to compare the characteristics of gait before and after surgery. The analysis showed that all of the patient's gait parameters improved after surgery. And after 6 months, the gait was more stable. However, after long walk, the swing duration of one leg was slightly shorter than that of the other again. It was a preclinical problem that could not be found in the visual examination by the practitioner. With this analysis method we could evaluate the improvement of patient quantitatively and objectively. And we could find a preclinical problem. This analysis method will lead to the studies that define and distinguish gait patterns of certain diseases, helping to determine appropriate treatments.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.55-62
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• 2013

The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.147-158
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• 2008

The purpose of this study was to analyze the kinematical variables involved in two types of service motion in tennis pinpoint and platform stance, to find the fastest serving method. Seven skilled high school tennis players participated, and the kinematics were recorded by the Vicon motion analysis system. For the gathering and analysis of the data workstation, bodybuilder and polygon were used. During the back swing for the pinpoint stance, as the back leg moves forward the COM and the racquet moves more, thus taking 0.04 seconds longer than the platform stance. The body of the subject takes a bow-shape as the subject's foot moves back and their hip moves forward. This movement enables the subject to create more power during the backswing to impact. It also increases the spread of the COM racquet and the serve speed is increase. As there is no forward movement of the foot during the backswing of the platform stance, the COM and the racquet move less and thus the time required is shorter than that for the pinpoint stance by 0.04seconds. Similarly, the time spent creating the power for the serve is shortened, the COM racquet is narrower and the speed is lessened. However, the advantage of this serve is that it increases the stability.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.1
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• pp.93-99
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• 2014

PURPOSE: The purpose of this study was to compare three dimensional displacement and peak velocity of the center of mass (COM) during obstacle crossing in young and older adults. METHODS: 10 young adults (6 males/4 females, $24.6{\pm}1.9$ years, age range: 22.0-26.9) and 10 older adults (1 male/9 females, $76.9{\pm}5.1$ years, age range: 65.2-81.2) participated in the study. Both groups crossed an obstacle, which is 10% of leg length, and COM was measured using motion analysis system. Independent t-test was used to find significant differences between two groups. RESULTS: The older adults showed significantly greater and faster COM displacement and peak velocity in mediolateral (M-L) direction as compared with young adults (p<.01 and p<.001 respectively). However, the young adults showed significantly greater and faster COM displacement and peak velocity in anteroposterior (A-P) direction as compared with older adults (p<.05 and p<.001 respectively). Furthermore, the young adults showed faster peak velocity of COM in vertical direction as compared with older adults (p<.001). However, no significant difference was found in the COM displacement in vertical direction between two groups. CONCLUSION: Greater and faster COM displacement and peak velocity in M-L direction in older adults were due to compensatory adjustment for appropriate contact on base of support of swing limb. Thus, the motion of the COM in M-L direction may be a crucial factor to identify risk of falls in older adults.

• Safety and Health at Work
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• v.8 no.2
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• pp.183-188
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• 2017

Background: Recommendations have been proposed for minimum aerobic fitness among firefighters but it is unclear if those criteria relate to performance on the fireground. Less fit individuals fatigue more quickly than fit individuals when working at comparable intensity and may have gait changes, increasing risk of falls. We evaluated the effect of fatigue during a live burn evolution on gait parameters and functional balance comparing them to aerobic fitness levels. Methods: A total of 24 firefighters had gait and balance tested before and after a live burn evolution. Data were stratified by aerobic fitness of greater/less than 14 metabolic equivalents (METs). Results: Analysis of gait cycles measurements before and after the live burn evolution revealed that single leg stance, cycle, and swing time decreased (p < 0.05) but there were no differences in the other measures. There were no differences in time to complete the functional balance test, or errors committed before or after a live burn evolution. When firefighters were sorted by fitness level of 14 METs, there were no differences for errors or time before or after the live burn evolution. Balance data were analyzed using a linear regression. Individuals with lower fitness levels required more time to complete the test. Conclusion: A 14-MET criterion failed to distinguish gait or balance characteristics in this group. However, less fit firefighters did require more time to complete the balance test (p = 0.003). Aerobic fitness alone does not predict gait changes among firefighters following a live burn evolution but does appear to influence functional balance.

• PNF and Movement
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• v.15 no.3
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• pp.317-331
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• 2017

Purpose: Balance and walking ability are important elements of functional independence for people with stroke and are major goals in rehabilitation. These abilities require trunk performance, but most chronic stroke patients reach a plateau in their rehabilitation. Therefore, the purpose of this study was to investigate the effects of a self-training trunk program to improve balance and walking ability in people with stroke, and to suggest such a self-training program for integrated rehabilitation of people with stroke. Methods: The study recruited 7 people with stroke. The subjects performed trunk training for 30 min per day, 6 days per week, for 3 weeks. Participants were measured on the Trunk Impairment Scale (TIS), the Berg Balance Scale (BBS), the Korean Activities-specific Balance Confidence (K-ABC) scale, the Falls Efficacy Scale (FES), the Functional Gait Assessment (FGA), the 6 Minute Walk Test (6MWT) and a gait analysis to measure the training effects. Statistical analysis used the Wilcoxon signed-rank test as a non-parametric statistical test. Results: TIS was not significantly different after the self-training trunk program, but BBS (p>0.05), K-ABC, and FES were significantly improved after the training program (p<0.05). Furthermore, the 6MWT, stride/height %, and one-leg stance were significantly improved after the training program (p<0.05), but cadence, stance, and swing duration were not significantly different after the training (p>0.05). Conclusion: These results suggest that a self-training trunk program should be integrated into stroke rehabilitation to improve balance and walking ability, and further research is needed to develop the program to be more effective for chronic stroke patients.

• Physical Therapy Rehabilitation Science
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• v.9 no.3
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• pp.155-164
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• 2020

Objective: This study aimed to compare muscle structure, balance, and gait parameters between healthy adults and persons with stroke and to analyze the correlation among these variables. Design: Cross-sectional study. Methods: Twenty persons with stroke (11 male, 9 female) and twenty healthy participants (9 male, 11 female) were included. Ultrasound images of the triceps surae and the tibialis anterior were acquired in sitting resting, sitting co-contraction, and standing resting positions and also during the functional reach test (FRT) and single leg anterior reaching test (SLART). Muscle thickness and fascicle length were measured. Spatiotemporal parameters of gait were measured using a pressure walkway. Gait speed, cadence, step length, stride length, stance time, and swing time were measured. Results: Changes in percent fascicle length were significantly greater in the gastrocnemius and soleus (SOL) muscles of healthy adults in the sitting co-contraction position (p<0.05). The percent fascicle length of the SOL in FRT and SLART were significantly greater in healthy adults (p<0.05). The mid-stance phase of stroke patients was shorter than healthy adults (p<0.05). A negative correlation was observed between percent fascicle length of the SOL in the sitting co-contraction position and the proportion of the mid-stance phase (p<0.05). Conclusions: The function of the triceps surae is affected in persons with stroke when compared with healthy adults. This can lead to difficulty in performing tasks that involve forward transfer of weight. If the triceps surae is not sufficiently secured, the possibility of compensation in the stance phase increases during gait.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.107-115
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• 2009

The purpose of this study were to investigate the effects of muscle, balance and walking training on muscle, balance and gait kinematics in children with Down syndrome. Nine children ($9{\sim}12$ years old) with Down syndrome participated in this study. The participant with Down syndrome participated in muscle, balance and walking training for 12 weeks, three times a week Kinematic variables of gait were measured 3-dimentional motion capture system. The results indicated that the pelvis rotation decreased, the knee and hip flexion increased, decreased leg sway during the swing phase, the cadence increased, and the stride length decreased after the muscle, balance and walking training. In conclusion, Down syndrome's gait kinematic variables improved after the muscle, balance and walking training.