• 문화기술의 융합
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• 제4권4호
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• pp.439-448
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• 2018

본 연구에서는 가방의 휴대 방법이 보행 시 족저압에 어떠한 변화를 일으키는지 알아보기 위하여 정상 성인 남녀 33명을 대상으로 가방을 휴대하지 않고 보행, 가방을 양쪽어깨에 메고 보행, 가방을 하나의 한쪽어깨에 메고 보행, 가방을 한쪽 손으로 들고 보행하기 등 4가지 조건에서 F-scan system을 이용해 족저압을 측정하였다. 실험을 통해 얻어진 족저압의 변화와 좌 우측 발에서의 비대칭성을 분석하였다. 네 가지 가방 휴대방식 간에 부위별 족저압을 비교해 본 결과 좌측 발은 족지와 중족을 제외하고 다섯 가지 조건 간에 유의한 차이를 보였고, 우측 발은 제4,5번 중족골두를 제외하고 모두 유의한 차이가 나타났다(P>.05). 이를 종합해 볼 때 가방을 등 뒤로 양쪽 어깨에 메는 방법을 제외하고는 어떤 방법이 발에 최소한의 부담을 주는 최선의 방법인지는 본 실험의 족저압 변화 양상을 통해서 판단하기에는 다소 부족한 면이 있다고 사료된다. 앞으로의 연구에서는 가방 휴대 방법에 따른 족저압의 변화에 대한 연구 및 비대칭성 부하가 측만증이나 후만증과 같은 비정상적 자세를 치료하는데 효과적으로 사용할 수 있는 방법에 대해서도 연구가 진행되어야 할 것이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 전기학회논문지
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• 제65권4호
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• pp.673-677
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• 2016

In this study, In order to measure foot pressure, it makes analyzing device using multi-pressure sensor. This device was limited frequency band to 5Hz by using low-pass filter and MCU was detected signal every milliseconds. After wearing the device, the result was confirmed by blue-tooth to measure wirelessly. Also, we propose an algorithm to obtain the walking pattern using a time table in each of the detected peak from the pressure sensor. Using the algorithm, right walking pattern and abnormal pattern was detected. The results can be reflected more individual walking patterns than when using a conventional methods and also, developed device was no restriction on the human activity.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.534-539
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• 2008

본 논문은 시력이 떨어지고 보행이 불편한 고령자의 이동을 지원하는 지능형 6족 이동 로봇에 대한 연구이다. 센서 및 소형카메라를 장착한 6족 지능형 이동 로봇은 다양한 보행 및 회전, 이동 속도 조절 등의 이동 능력과 다양한 센서를 이용한 장애물 회피, 위협 상황 인식, 경사보행, 물체영역의 인식 및 추적 등의 기능을 가지며, 로봇에 연결된 선을 이용해 고령자의 보행을 유도한다. 로봇의 안정된 보행을 위한 모터의 제어방법, 센서 및 영상인식을 통한 로봇의 환경인식, 그에 따른 로봇의 지능적이고 능동적인 대응, 감지된 환경정보를 신속하게 무선통신을 통해 필요한 고령자 또는 보호자에게 전송하는 방법 등을 구현하였다. 한 다리에 3자유도를 가진 18관절 6족 로봇으로 구현되어 비평탄 지형에서도 안정된 보행구현은 물론 다양하고 부드러운 동작을 취할 수 있으며 강력한 구동 능력을 위해 디지털 슈퍼토크 서보모터를 사용하였고, 위험 상황 인식을 위해 3축 가속도 센서, PIR(초전)센서, 불꽃센서, 연기센서, 적외선, 초음파 거리감지 센서, 조도센서, 터치센서, 온도/습도 센서, 음성인식센서와 카메라를 통한 영상인식 등을 센서 융합에 의해 구현함으로써 상황인식의 정확도를 높이고 고령자들의 길안내 시 위험을 조기에 예측하여 전달하는 에이전트 역할을 수행하도록 설계되었다.

• The Journal of Korean Physical Therapy
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• 제25권2호
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• pp.88-95
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• 2013

Purpose: The purpose of this study was to conduct an analysis of kinematics of lower extremities and trunk in stance phase of walking according to turning direction. Methods: Ten university students (five male, five female) who were in their 20s (mean age was 20.6 years old) participated in this study. Participants did not have participants did not have any problem with skeletal muscular system. We used the "Qualisys motion capture system" for analysis of trunk and lower extremity movement in stance phase of walking according to turning direction. We collected data while subjects walked a distance of 10 m, and at the 6 m line, subjects were required to turn to the left side and the right leg was positioned in stance phase and the left leg was positioned in swing. For data analysis, the SPSS for Windows ver. 20.0 statistics program was used in performance of one way analysis of variance according to turning direction. Results: Significant difference of trunk and lower extremities was observed for turning direction according to walking cycle (p<0.05). Upper trunk movement showed a greater increase at three dimensions than lower trunk, and in heel off phase, pelvic movement showed a greater increase than lower trunk (p<0.05). In 45 degree and 90 degrees of turning direction, all movements of trunk and lower extremities were significantly different among three events of stance phase (p<0.05). Conclusion: We suggest that three-dimensional movement analysis of trunk and lower extremities during turning movement was very important in order to indicate increasing balance or walking ability for people with impaired movement or walking.

• 대한물리의학회지
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• 제13권1호
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• pp.89-98
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• 2018

PURPOSE: While underwater, patients with hemiplegia experience unwanted limb flotation on their paretic side due to low muscle mass and high body fat. However, only a limited number of studies support the effectiveness of this practice. Therefore, the purpose of this study was to determine how the balance and walking abilities of patients with hemiplegia due to stroke were affected by wearing an aquatic cuff on their ankles during underwater treadmill walking. METHODS: Twenty stroke patients were divided into an experimental group comprised of 20 patients who would wear an aquatic cuff and a control group comprised of 10 patients without an aquatic cuff. Both groups underwent a six-week intervention for 30 minutes a day three times a week. To evaluate the groups' balance and walking abilities before and after the intervention, the 10 m walking test, timed up go test, Berg Balance Scale, functional reaching test, and the GAITRite system were used. RESULTS: The results of the 10 m walking test, timed up go test, differences between the left and right gait cycles, and functional reaching test showed statistically significant differences in the rates of change between the two groups (p<.05). CONCLUSION: The study results suggest that underwater treadmill training in stroke patients can be more effective when they wear an aquatic cuff on their ankles compared to wearing no aquatic cuff.

• 한국운동역학회지
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• 제27권1호
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• pp.35-43
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• 2017

Objective: The purpose of this study was to determine how gaze angle affects muscle activity and kinematic variables during treadmill walking and to offer scientific information for effective and safe treadmill training environment. Method: Ten male subjects who have no musculoskeletal disorder were recruited. Eight pairs of surface electrodes were attached to the right side of the body to monitor the upper trapezius (UT), rectus abdominis (RA), erector spinae (ES), rectus femoris (RF), bicep femoris (BF), tibialis anterior (TA), medialis gastrocnemius (MG), and lateral gastrocnemius (LG). Two digital camcorders were used to obtain 3-D kinematics of the lower extremity. Each subject walked on a treadmill with a TV monitor at three different heights (eye level; EL, 20% above eye level; AE, 20% below eye level; BE) at speed of 5.0 km/h. For each trial being analyzed, five critical instants and four phases were identified from the video recording. For each dependent variable, one-way ANOVA with repeated measures was used to determine whether there were significant differences among three different conditions (p<.05). When a significant difference was found, post hoc analyses were performed using the contrast procedure. Results: This study found that average and peak IEMG values for EL were generally smaller than the corresponding values for AE and BE but the differences were not statically significant. There were also no significant changes in kinematic variables among three different gaze angles. Conclusion: Based on the results of this study, gaze angle does not affect muscle activity and kinematic variables during treadmill walking. However, it is interesting to note that walking with BE may increase the muscle activity of the trapezius and the lower extremity. Moreover, it may hinder proper dorsiflexion during landing phase. Thus, it seems to reasonable to suggest that inappropriate gaze angle should be avoided in treadmill walking. It is obvious that increased walking speed may cause a significant changes in biomechanical parameters used in this study. It is recommended that future studies be conducted which are similar to the present investigation but using different walking speed.

• PNF and Movement
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• 제16권1호
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• pp.7-17
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• 2018

Purpose: The aim of this study was to investigate the effects of coordinative locomotor training in a chronic stroke patient. Methods: A left hemiplegic patient diagnosed with a right middle cerebral artery stroke participated in this research. The patient's functional conditions were assessed, and a coordinative locomotor training program was initiated to resolve the problems identified. A set of movements deemed difficult based on the brief International Classification of Functioning, Disability and Health core set for stroke and d4501 (long-distance walking) were agreed as improvement targets. The program comprised warm up, main, cool-down, and home exercises. Repeated measurements were obtained, as follows: five times at baseline (A), 10 times during the intervention (B), and five times after the intervention (A). The study period was 7 weeks, and the intervention period was 1 h per day, twice a week for 5 weeks. Various tools, including the community walking test (CWT), 10-m walking test (10 MWT), 6-min walking test (6 MWT), and timed up and go (TUG) test, were conducted to assess the patient's walking ability. Changes in functional domains before and after the ICF Qualifier were compared. The mean values of the descriptive statistics were calculated, and a visual analysis using graphs was used to compare the rates of change. Results: The results showed that the CWT, 10 MWT, 6 MWT, and TUG test scores during the intervention period improved and that this improvement remained, even during the baseline period. In addition, the ICF Qualifier before and after the comparison decreased from moderate to mild. Conclusion: Based on the results, we propose that coordinative locomotor training can have positive effects on community ambulation of chronic stroke patients.

• 한국운동역학회지
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• 제29권2호
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• pp.105-112
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• 2019

Objective: The main purpose of this study was to investigate the effects of wearing an ankle weight belt while performing gait in water by focusing on the effect of using ankle weights have on the gait kinematics and the muscle activities for developing optimum training strategies. Method: A total of 10 healthy male university students were recruited for the study. Each participant was instructed to perform 3 gait conditions; normal walking over ground, walking in water chest height, and walking in water chest height while using ankle weights. All walking conditions were set at control speed of $4km/h{\pm}0.05km/h$. The depth of the swimming pool was at 1.3 m, approximately chest height. The motion capture data was recorded using 6 digital cameras and the EMG was recorded using waterproof Mini Wave. From the motion capture data, the following variables were calculated for analysis; double and single support phase (s), swing phase (s), step length (%height), step rate (m/s), ankle, knee, and hip joint angles ($^{\circ}$). From the electromyography the %RVC of the lower limb muscles medial gastrocnemius, rectus femoris, erector spinae, semitendinosus, tibialis anterior, vastus lateralis oblique was calculated. Results: The results show significant differences between the gait time, and step length between the right and left leg. Additionally, the joint angular velocities and gait velocity were significantly affected by the water resistance. As expected, the use of the ankle weights increased all of the lower leg maximum muscle activities except for the lower back muscle. Conclusion: In conclusion, the ankle weights can be shown to stimulate more muscle activity during walking in chest height water and therefore, may be useful for rehabilitation purposes.

• 대한물리치료과학회지
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• 제25권2호
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• pp.7-14
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• 2018

Purpose: This study was conducted to analyze the effect of bag type on gait kinematic factors. The purpose of this study was to compare the Cobb's angle, leg angle and foot pressure difference according to bag type among 20 university students. Methods: The bag type was applied with two kinds of bags: not wearing a bag, backpack, and an eco bag. The bag weight was 10% of subjects weight in during experiment and only bag weight was 0.5kg. Results: Knee joint angle is increased when wearing backpack or an eco bag than not wearing bag. Cobb's angle increased when wearing backpack and wearing eco back. The difference in right and left foot pressure increased when wearing eco bag than not wearing bag and wearing backpack. Conclusion: Therefore, wearing a heavy backpack or an eco bag when walking for a long time may cause scoliosis and change the walking form.