• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.315-322
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• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• Physical Therapy Korea
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• v.21 no.1
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• pp.29-36
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• 2014

The purpose of this study was to investigate the immediate effect of fabric ankle-foot orthosis on spatiotemporal gait parameters, compared to a barefoot condition in children with spastic cerebral palsy. Eleven children with spastic cerebral palsy participated in this study. Spatiotemporal gait parameters were measured with the GAITRite system. Fabric ankle-foot orthosis significantly improved Timed Up and Go test time and gait velocity. There was no significant difference in cadence. The step time significantly improved in both the more and less affected foot compared to the barefoot condition. The step length of the affected foot also significantly improved, but there was no significant difference in the step length of the less affected foot. There was significant improvement in the stride length of both the affected and less affected foot, but no significant difference in single stance or double stance. The fabric ankle-foot orthosis could improve stability, and selective control of the joint and promote better walking in children with cerebral palsy. Consequently, the fabric ankle-foot orthosis might be an alternative assistive device for neurological populations as a primary role instead of the typical ankle-foot orthosis.

• Journal of the Korean Society of Safety
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• v.32 no.1
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• pp.121-127
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• 2017

Recently, many patients in a hospital are threatened life by fire disaster. Because many patients like vulnerable people have more evacuation problem than ordinary person. So a patient who can escape by oneself with walking assistance device like crutches or wheelchair and another patient who can't escape by oneself are should be supported safety technologies and service. Earlier research of 'hospital evacuation' led by actual experiments or computer evacuation simulation. Actual experiment is effective to gain credibility of result but it is difficult for patients to experiment repeatedly and it requires consideration for spatial problem and economic problems. Although computer evacuation simulation have been used to solve these problems, almost have concluded only results based on velocity without evacuation device. In this study, evacuation results with support device application or not are analysed used by computer evacuation simulation based on MAS(Multi Agent System). As a result, it is drawn through proof of efficiency of evacuation device in the vertical space like stairs that can improve the evacuation plan for vulnerable people in the hospital.

• The Journal of Korean Physical Therapy
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• v.10 no.1
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• pp.127-138
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• 1998

This study was carried out tn invstigate and compare biomechanical characteristics during free speed gait in hemiplegic patients after stroke who took therapeutic exercise by analyzing kinematic and kinetic data in the sagital plane and electromyographic data. Six patients($41\~69$ years old) and age-matched six volunteers in good health(51-61 years old) wire studied. The patients were sorted into two groups, depending on their self-speed of walking : fast speed group(3 patients) and slow speed group(3 patients). The results were as fellows. : 1. In spatio-temparal parameters, affected and unaffected side of fast group showed symetry but blew group showed asymetry of single limb support, opposite foot contact and stance phase (p<0.05). Compared with normal group, patient group showed slower velocity, shoter stride length and longer double limb support (p<0.05). 2. In the pelvic anterior tilt, patient group showed lower valued than normal group. It. In the ground reaction force-vertical force, fast group showed similar double peak gragh compared with normal group, butvslow group showed lower values without double peak (p<0.05).

• Physical Therapy Korea
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• v.11 no.3
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• pp.19-24
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• 2004

The purposes of this study were to analyze gait patterns of patients with chronic lumboscaral radiculopathy and to investigate gait parameters which can reflect a functional deficit in relation to the level of lumbosacral radiculopathy. The study population consisted of 25 patients of chronic lumbosacral radiculopathy and 25 healthy control subjects. Conventional physical examinations and three-dimensional gait analyses were performed on all participants. The data were analyzed using an independent sample t-test. The results were as follows: (1) In the patients' group, cadence, walking velocity, stride length and double support time were less than in the control group (p<.05). (2) In the patients' group, maximum flexion of hip, maximum flexion of loading response, maximum flexion of swing phase on the knee and maximum plantar flexion of pre-swing were less than the control group (p<.05). Using three-dimensional gait analysis, we could identify specific gait parameters to reflect a functional deficit related to the level of lumbosacral radiculopathy.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.126-132
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• 2009

This study examined the differences in spatio-temporal parameters, joint angle, ground reaction force (GRF), and joint power according to the changes of gait speed for trans-tibial amputees to investigate the features of the energy-storing foot for sports. The subjects walked at normal speed and at fast speed, wearing a single-axis type foot (Korec) and an energy-storing foot for sports (Renegade) respectively. The results showed that Renegade yielded faster gait speed as well as more symmetric gait pattern, compared to Korec. However, as gait speed was increased, there was no significant difference in kinematics, ground reaction force, and joint power between two artificial foots. This was similar to the results from previous studies regarding the energy-storing foot, where the walking velocity and gait symmetry have been improved. Nevertheless, the result of this study differed from the previous ones which reported that joint angle, joint power, and GRF increased as the gait speed increased except spatio-temporal parameters.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.4
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• pp.559-566
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• 2013

PURPOSE: The present study examines how feedback respiratory exercise affects gait performance of stroke patients. METHODS: Forty stroke patients were randomly divided into an experiment group and a control group. For the former group, patients went through a half-hour of training therapy and a half-hour of feedback respiratory device exercise. For the latter group, patients went through 30 minutes of training therapy and a half-hour of motomed exercise. All participants had five training sessions each week for four weeks. For measurement, a GAITRite system was used to examine spatial parameters, and functional ambulation performance before and after the training. RESULT: In terms of spatial parameters, double support ratio, stance phase increased significantly in the experiment group after the walking exercise(p<.05). FAP rose more significantly in the experiment group than in the control group(p<.05). In comparison of two exercise groups, double support ratio, Stance phase, gait velocity, FAP was significant difference(p<.05). CONCLUSION: The experiment results showed that feedback respiratory exercise is effective in enhancing gait performance.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.117-124
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• 2020

In this paper, the symmetric position drift of the integration approach in pedestrian dead reckoning (PDR) system with dual foot-mounted IMU is analyzed. The PDR system that uses the inertial sensor attached to the shoe is called the IA-based PDR system. Since this system is designed based on the inertial navigation system (INS), it has the same characteristics as the error of the INS, then zero-velocity update (ZUPT) is used to correct this error. However, an error that cannot be compensated perfectly by ZUPT exists, and the trend of the position error is the symmetric direction along the side of the shoe(left, right foot) with the IMU attached. The symmetric position error along the side of the shoe gradually increases with walking. In this paper, we analyze the causes of symmetric position drift and show the results. It suggests the possibility of factors other than the error factors that are generally considered in the PDR system based on the integration approach.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.9-15
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• 2006

The recent development in robot field shows that service robot which interacts with human and provides specific service to human has been researched continually. Especially, robot for human welfare becomes the center of public concern. At present time, guide robot is priority field of general welfare robot and helps the blind keep safe path when he walks outdoor. In this paper, guide robot provides not only collision avoidance but also the best walking direction and velocity to blind people while recognizing environment information from various kinds of sensors. In addition, it is able to provide the most safe path planing on behalf of blind people.

• International Journal of Contents
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• v.16 no.3
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• pp.1-17
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• 2020

Human motion recognition is essential for user-centric services such as surveillance-based security, elderly condition monitoring, exercise tracking, daily calories expend analysis, etc. It is typically based on the movement data analysis such as the acceleration and angular velocity of a target user. The existing motion recognition studies are only intended to measure the basic information (e.g., user's stride, number of steps, speed) or to recognize single motion (e.g., sitting, running, walking). Thus, a new mechanism is required to identify the transition of single motions for assessing a user's consecutive motion more accurately as well as recognizing the user's body and surrounding situations arising from the motion. Thus, in this paper, we collect the human movement data through Android smartphones in real time for five targeting single motions and propose a mechanism to recognize a consecutive motion including transitions among various motions and an occurred situation, with the state transition model to check if a vulnerable (life-threatening) condition, especially for the elderly, has occurred or not. Through implementation and experiments, we demonstrate that the proposed mechanism recognizes a consecutive motion and a user's situation accurately and quickly. As a result of the recognition experiment about mix sequence likened to daily motion, the proposed adoptive weighting method showed 4% (Holding time=15 sec), 88% (30 sec), 6.5% (60 sec) improvements compared to static method.