• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.2
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• pp.2060-2064
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• 2020

Background: Recently, the kinesiology taping (KT) method was reported to be effective in improving walking ability in foot drop patients after stroke, but the clinical basis is still unclear. Objectives: The KT method was compared with ankle-foot orthotics (AFO) to investigate gait ability in foot drop patients after stroke. Design: Crossover study design. Methods: In this study, 11 stroke patients with foot drop participated. Walking ability of all subjects for both conditions (KT and AFO) was measured using the GAITRite system. The order of application of the two conditions was determined randomly by drawing lots. Wilcoxon signed-rank test was used to compare walking ability between the two conditions. The level of statistical significance was set at P<.05. Results: There were no significant differences between the KT and AFO methods in terms of velocity, cadence, step length, and stride length (P>.05, all). Conclusion: This study recommends KT as an alternative to the AFO, since KT provides evidence of preventing of foot drops and improving gait ability in stroke patient.

• Journal of Korean Association for Spatial Structures
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• v.17 no.2
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• pp.71-77
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• 2017

In this study, the boundary non-linear analysis of the sky bridge subjected to walking load and running load is performed. The sky bridge is installed in the mid-story between two buildings and the walking load and running load induced by pedestrians are measured by load cell. LRB is modeled as a non-linear hysteresis model to accurately represent the behavior of LRB. For the serviceability evaluation of sky bridge, the acceleration responses of sky bridge are analyzed based on ISO 2631-2 and the velocity response are analyzed based on standards Bachmann &Amann. In serviceability evaluation of this sky bridge, the pedestrian can not perceive the vibration except for resonance running loads consequently. Therefore, it is concluded that this sky bridge haven't problem in the serviceability.

• PNF and Movement
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• v.11 no.2
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• pp.119-126
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• 2013

Purpose : The neurologically impaired patients have sensory, motor, cognition, perception problems which cause reduction of body schema, balance control and postural control provoke disfunction. The purpose of this case report was to evaluate effects on gait&balance upon improvement of postural control for left hemiplegia. Methods : This study has performed single subject design from March to April 2013 for 6 weeks. The subject of this study was a 67years old female patient with left hemiplegia. Timed Up and Go (TUG) test and Functional Reach (FR) test were used as evaluation tool. The subject was treated 5 times a week for 30 minutes each. Results : The result is that the walking velocity was decreased, the ability of gait was improved than before the training. The length of FR was increased from 8.33cm to 22.67cm. Conclusion : According to the results, the treatment improves subject's ability of walking in this study.

• Korean Journal of Applied Biomechanics
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• v.29 no.2
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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.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.797-800
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• 1987

We developed a biofeedback gait training system; a 12 m measuring walkway with a training walker which moves at prescribed velocity. The walkway measures a.11 temporal and distance factors of gait. This system provides visual feedback for distance factors and auditory one for temporal at the prescribed walking velocity. Experiments were performed on normal and degenerative knee joint subjects, and this system was verified to be very useful.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.169-175
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• 2000

Stable and comfortable walking supports, which can reduce the body weight load partially, are needed for the recovering patients from neurologic disease and orthopedic procedures. In this paper, the development of a manipulator of rehabilitation robot for the patients with walking disabilities are studied. A force controller using pneumatic actuators is designed and implemented to the human friendly rehabilitation robot considering the safety of patients, reliability of the system, effectiveness of the unloading control and economic maintenance of the system. The mechanism of the unloading manipulator is devised to improve the sensibility for the movement of the patients such as direction and velocity. For the unloading force control, fuzzy control algorithm is adopted to reduce the partial body weight and suppress the unwanted fluctuation of the body weight load to the weak legs due to the unnatural working of the patients with walking disabilities. The effectiveness of the force control is experimentally demonstrated.

• The Journal of Korean Physical Therapy
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• v.21 no.1
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• pp.89-96
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• 2009

Purpose: The purpose of this study was to determine the effect of modified golf swing training on gait characteristic in hemiplegic patient through Kwon 3D motion analysis system. Methods: This study has performed single subject design from September to October 2008. The subject had left hemiplegia due to CVA in December 2003. He has treated Bobath approach twice a week. In order to increase ankle dorsiflexion and knee flexion, the subject has applied modified golf swing training on the basis of Bobath approach. The measurement of gait characteristic was taken by Kwon 3D motion analysis system. Results: The results were as follows : 1) Walking velocity was increased 0.62m/sec than before the training. 2) Step length was increased 0.09m than before the training. 3) Left ankle and hip angle were increased, but left knee angle was decreased. Conclusion: It could be concluded that the activity modified golf swing training in walking pattern contributed to improve the movement quality and speed of gait.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• PNF and Movement
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• v.4 no.1
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• pp.37-44
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• 2006

Purpose : Improved walking is a common goal after stroke. Although the neurodevelopmental intervention(PNF) is the most widely used approach in the walking training of hemiparetic subjects. There is little neurophysiological evidence for its presumed effects on gait symmetry and facilitation of paretic muscles during the therapeutic intervention. The study, therefore, investigated the immediate effects of gait entrainment by a PNF techniques. Methods : Included persons with stroke who were living in the community. Sixteen subjects were assigned to the experimental group participated in a measures design that evaluated the subjects with pre-treatment, post-treatment(8 weeks). Temporal-spatial parameter of gait were analysed for using the computerized GAITRite system. Intervention : Training for the experimental group was carried out 3 times a week for 8 weeks. The training sessions were comprised of 50 minutes of walking with pattern and techniques in PNF. Results : The experimental group had improvements in the functional walking ability after 8 weeks treatment and Post-treatment test scores were more significant than the pre-treatment score. The treatment group demonstrated significantly post-treatment test improvement in gait velocity, cadence and FAP. Post-treatment test scores were more significant than the pre-treatment score(p<0.05). Conclusion : The results of this study showed that the PNF exercise intervention can improve functional gait ability. This study provides evidence for the efficacy of PNF treatment at improving locomotor function in chronic stroke.