• 전자공학회논문지
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• 제50권1호
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• pp.261-268
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• 2013

본 논문은 지능형 보행보조로봇이 횡단경사면주행에 있어 직진성 향상 알고리즘을 제안한다. 보행보조로봇은 횡단경사면주행시 로봇의 무게와 경사도에 의해 발생되어지는 회전모멘트의 영향을 받아 경로 이탈을 하게 된다. 이를 보정하기 위해 사용자가 입력하는 목표 회전각속도와 로봇의 회전각속도와의 비교를 통해 각 구동축에 가중치를 인가하는 알고리즘을 적용하였다. 제안한 보정 제어기를 실\제 보행보조로봇에 적용한 결과 횡단경사면 이동시 Yaw 축 이탈거리는 무보정 실험의 경우 발산하지만 Yaw 보정 알고리즘을 적용하였을 경우에는 이탈거리가 최대 20cm 이내로 안정적인 주행을 하는 것을 확인할 수 있었으며, 이탈거리 변화율 또한 300cm 이후 안정화되어 더 이상의 변화가 발생하지 않는 것을 확인할 수 있었다.

• 국제물리치료학회지
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• 제1권2호
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• pp.120-125
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• 2010

The purpose of this study was to compare the effects of treadmill walking in underwater and overground which affects gait and physical function of people who have had a stroke. Twenty people after a stroke who have become hemiplegic over 6 months were participated. Participants were divided into two groups: underwater treadmill group(UTG) and overground treadmill group(OTG). The intervention was done 4 times per weeks for 6 weeks and 1 session lasted for 30 minutes. Gait and physical function elements were measured at baseline, at the middle(3 weeks) and at the end of the intervention(6 weeks). For the elements of gait, walking velocity, affected stance phase, affected weight bearing were assessed. For the elements of physical function, Short Form 8(SF-8) health survey was used. The result of this study showed that both groups improved similarly in walking velocity. However participants in UTG improved more than those in OTG in affected stance phase(p<.05), affected weight bearing(p<.05) and emotional aspect(p<.001). Based on the results of this study, it can be suggested that treadmill walking both in underwater and on the ground can be effective in improving hemiplegic gait and physical function of people who have had a stroke. The result also suggest that the underwater treadmill exercise can be more effective than overground treadmill in restoration of gait in people after stroke.

• 한국전문물리치료학회지
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• 제24권3호
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• pp.1-9
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• 2017

Background: The method of measuring the walking function of patients with chronic stroke differs depending on patients walking capability and environmental conditions. Objects: This study aimed to demonstrate the influences of walking capacity and environmental conditions on the results of short- and long-distance walk tests in patients with chronic stroke. Methods: Forty patients with chronic stroke volunteered for this study, and allocated to group-1 (<.4m/s, household walking, $n_1=13$), group-2 (.4~.8m/s, limited community ambulation, $n_2=16$), and group-3 (>.8m/s, community ambulation, $n_3=11$) according to their walking capacity. The 10-meter walk test (10MWT) and 6-min walk tests, (6MWT) were used to compare the short- and long-distance walk tests results, which were randomly performed under indoor and outdoor environmental conditions. Results: The comparison of the results obtained under the indoor and outdoor conditions revealed statistically significant differences between the groups in the 6MWT and 10MWT (p<.05). Post-hoc tests' results showed significant differences between groups-1 and -2 and between groups-1 and -3 in the 10MWT, and between group-1 and -3 in the 6MWT. Furthermore, in group-2 the 10MWT and 6MWT results significantly differed between the indoor and outdoor conditions, and the values measured under the indoor and outdoor conditions significantly differed between 10MWT and 6MWT (p<.05). Group-3 showed a significant difference in 10MWT results between the indoor and outdoor conditions (p<.05). Conclusion: These findings suggest that the results of the short- and long-distance walk tests may differ depending on the walking capacity of patients with chronic stroke and the environmental condition under which the measurement is made, and these effects were greatest for the patients with the limited community ambulation capacity.

• 한국전문물리치료학회지
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• 제22권2호
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• pp.1-10
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• 2015

The common features of walking in patients with stroke include decreased gait velocity and increased asymmetrical gait pattern. The purpose of this study was to identify important factors related to impairments in gait velocity and asymmetry in chronic stroke patients. The subjects were 30 independently ambulating subjects with chronic stroke. The subjects' impairments were examined, including the isokinetic peak torque of knee extensors, knee flexors, ankle plantarflexors, and ankle dorsiflexors. Passive and active ranges of motion (ROM) of the ankle joint, ankle plantarflexor spasticity, joint position senses of the knee and ankle joint, and balance were examined together. In addition, gait velocity and temporal and spatial asymmetry were evaluated with subjects walking at their comfortable speed. Pearson correlations and multiple regressions were used to measure the relationships between impairments and gait speed and impairments and asymmetry. Regression analyses revealed that ankle passive ROM and peak torque of knee flexors were important factors for gait velocity ($R^2=.41$), while ankle passive ROM was the most important determinant for temporal asymmetry ($R^2=.35$). In addition, knee extensor peak torque was the most significant factor for gait spatial asymmetry ($R^2=.17$). Limitation in ankle passive ROM and weakness of the knee flexor were major contributors to slow gait velocity. Moreover, limited passive ROM in the ankle influenced the level of temporal gait asymmetry in chronic stroke patients. Our findings suggest that stroke rehabilitation programs aiming to improve gait velocity and temporal asymmetry should include stretching exercise for the ankle joint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• The Journal of Korean Physical Therapy
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• 제22권1호
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• pp.47-51
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• 2010

Purpose: The purpose of this study was to determine whether there are any differences, with and without a toe spreader (TS), in dynamic foot pressure distribution in children with spastic diplegic cerebral palsy. Methods: Dynamic foot pressure recording using the RSscan system were obtained during walking in 12 participants (male=7, female=5) with and without TS. Mean force was measured for four different plantar regions; great toe, forefoot, midfoot, hindfoot. Displacement of center of pressure (COP), velocity of COP displacement and stance time were also measured during gait. Results: TS walking exhibited statistically significant decrease of mean force under great toe and forefoot (p<0.05), compared with a barefoot walking. Also, TS walking exhibited statistically significant increase of antero-posterior displacement of COP (p>0.05). Conclusion: These findings indicate the potential clinical utility of toe spreader to correct dynamic foot pressure during stance phase in children with spastic diplegic cerebral palsy.

• 한국전문물리치료학회지
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• 제13권1호
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• pp.32-37
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• 2006

The purpose of this study was to investigate the effects of clinical characteristics of chronic stroke patients on physiological cost index (PCI) during walking. Fourteen stroke patients participated in this study. To investigate the clinical characteristics, Fugl-Meyer score (FMS), gait velocity (GV), muscle strength of the knee extensor, modified Ashworth scale (MAS) of ankle plantar flexor, devices, and gait patterns during walking were measured and analyzed. The results were as follows: Firstly, use of devices and high MAS of the ankle plantar flexor significantly increased PCI. Secondly, PCI was significantly correlated with the FMS and MAS of the ankle plantar flexor. In conclusion, inhibition of spasticity of the ankle plantar flexor is considered to reduce PCI during walking for chronic stroke patients.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.404-410
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• 2016

Compared to wheel locomotion, walking has many advantages : Better to cross over obstacles, the contact with ground is in a determined point, the ground is damaged less. Because Theo Jansen mechanism can make walking motion that is very soft, there are many researches about that mechanism. In this paper, We designed walking robot based on Theo Jansen mechanism. Most important design factor is velocity and stability. First of all, we considered kinematics knowledge and then, we made a new model by using simulation. Finally we developed the model by solving few design problems.

• 한국멀티미디어학회논문지
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• 제11권6호
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• pp.787-795
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• 2008

Human recognition on camera is an interesting topic in computer vision. While fingerprint and face recognition have been become common, gait is considered as a new biometric feature for distance recognition. In this paper, we propose a gait recognition algorithm based on the knee angle, 2 feet distance, walking velocity and head direction of a person who appear in camera view on one gait cycle. The background subtraction method firstly use for binary moving object extraction and then base on it we continue detect the leg region, head region and get gait features (leg angle, leg swing amplitude). Another feature, walking speed, also can be detected after a gait cycle finished. And then, we compute the errors between calculated features and stored features for recognition. This method gives good results when we performed testing using indoor and outdoor landscape in both lateral, oblique view.

• The Journal of Korean Physical Therapy
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• 제27권5호
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• pp.364-368
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• 2015

Purpose: Walking in the dual-task condition is a critical skill for hemiplegic patients to live in real-life situations. The purpose of this study was to compare the effect of dual-task gait training and general gait training on gait parameters and cognitive function in patients with chronic stroke during dual-task walking. Methods: The study included 23 patients with chronic hemiparetic stroke who were randomly divided into experimental (dual-task gait training) and control (general walking training) groups. The 11 subjects in the experimental group and nine subjects in the control group received dual-task gait training (walking while handling a ball, crossing obstacles, picking up various objects, and problem solving simple cognitive tasks and general over-ground gait training, respectively, for 30 minutes per day 5 days per week for 4 weeks. Spatiotemporal parameters and cognitive tasks in the dual-task gait condition were measured. Statistical analysis of the changes between the pre- and post-intervention measurement variables was performed using ANCOVA. Results: In the gait condition under cognitive tasks, the changes pre- and post-intervention in gait velocity, stride length, double support limb, and step symmetry were significantly greater in the dual-task gait training group; however, the dual-task gait training group showed no significant improvement compared to the general gait training group in terms of the assessment of cognitive tasks. Conclusion: The findings suggest that dual-task gait training may be beneficial for walking ability in dual-task walking condition.