• Title, Summary, Keyword: gait rehabilitation

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A Novel Powered Gait Orthosis using Pneumatic Muscle Actuator

  • Kang, Sung-Jae;Ryu, Jei-Cheong;Moon, In-Hyuk;Ryu, Jae-Wook;Mun, Mu-Seung
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1500-1503
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    • 2003
  • One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

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Development of the Gait Rehabilitation Equipment for Hemiplegic Patients after Stroke (편마비 환자를 위한 보행 재활기구 개발)

  • Nam, T.W.;Cho, J.M.;Kim, S.H.;Lim, J.H.
    • Journal of Biomedical Engineering Research
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    • v.27 no.5
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    • pp.245-249
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    • 2006
  • The aim of this study is to design and develop the gait rehabilitation equipment that judge patient's movement of his/her center of gravity using pressure sensors, and to aid hemiplegic patients to balance themselves using an automatic stepper that changes the patient's center of gravity. It is hard to bear the weight on the affected side for hemiplegic patients. The gait rehabilitation equipment detects the footing phase of hemiplegic patient during training and moves the unaffected footing side of the stepper up and moves the affected footing side down simultaneously so that the patient's center of gravity can shift from unaffected side to affected side. The gait rehabilitation system was developed and applied for hemiplegic patients during exercise. Eight hemiplegic patients and one normal adult were studied. The developed gait rehabilitation system could judge not only the normal adult's intention but also the patient's intention to move his/her center of gravity. Even though the most of hemiplegic patients exercised in automatic mode and a few hemiplegic patients exercised in manual mode, the developed gait rehabilitation system can aid the hemiplegic patients to train more easily.

Dual task interference while walking in chronic stroke survivors

  • Shin, Joon-Ho;Choi, Hyun;Lee, Jung Ah;Eun, Seon-deok;Koo, Dohoon;Kim, JaeHo;Lee, Sol;Cho, KiHun
    • Physical Therapy Rehabilitation Science
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    • v.6 no.3
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    • pp.134-139
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    • 2017
  • Objective: Dual-task interference is defined as decrements in performance observed when people attempt to perform two tasks concurrently, such as a verbal task and walking. The purpose of this study was to investigate the changes of gait ability according to the dual task interference in chronic stroke survivors. Design: Cross-sectional study. Methods: Ten chronic stroke survivors (9 male, 1 female; mean age, 55.30 years; mini mental state examination, 19.60; onset duration, 56.90 months) recruited from the local community participated in this study. Gait ability (velocity, paretic side step, and stride time and length) under the single- and dual-task conditions at a self-selected comfortable walking speed was measured using the motion analysis system. In the dual task conditions, subjects performed three types of cognitive tasks (controlled oral word association test, auditory clock test, and counting backwards) while walking on the track. Results: For velocity, step and stride length, there was a significant decrease in the dual-task walking condition compared to the single walking condition (p<0.05). In particular, higher reduction of walking ability was observed when applying the counting backward task. Conclusions: Our results revealed that the addition of cognitive tasks while walking may lead to decrements of gait ability in stroke survivors. In particular, the difficulty level was the highest for the calculating task. We believe that these results provide basic information for improvements in gait ability and may be useful in gait training to prevent falls after a stroke incident.

Effectiveness of Gait Training Using an Electromechanical Gait Trainer Combined With Simultaneous Functional Electrical Stimulation in Chronic Stroke Patients (기능적 전기 자극을 적용한 전동식 보행 훈련이 편마비 환자의 보행에 미치는 영향)

  • An, Seung-Hun;Lee, Yun-Mi;Yang, Kyung-Hee
    • The Journal of Korean Physical Therapy
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    • v.20 no.1
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    • pp.41-47
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    • 2008
  • Purpose: This study aimed to assess the effectiveness of gait training with the use of an electromechanical gait trainer with functional electrical stimulation (FES) for patients that had undergone subacute stroke. Methods: The study subjects included nine subacute stroke patients of the Korea National Rehabilitation Center in Seoul, Korea. Outcome was measured using the timed Up and Go test, Fugl-Meyer-L/E assesment, with determination of the comfortable maximal gait speed, composite spasticity score, functional ambulatory category and Berg balance scale. All measured scores were recorded before, during, and after rehabilitation and at an eight-week follow-up. Results: Patients who received electromechanical-assisted gait training in combination with FES after subacute stroke were more likely to achieve independent walking, functional activities, balance and gait speed. Conclusion: The outcome of our gait-training program demonstrates that it may be practical to integrate FES into electromechanical gait training without any adverse effects. However, further randomized controlled studies are needed to evaluate if patient outcome after combined training is superior to outcome after the use of electromechanical gait trainer treatment alone or conventional gait training alone.

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Effect of Gait Training Using PNF on Balance and Walking Ability in Person with Chronic Stroke(Single Subject Design) (PNF를 이용한 보행 훈련이 만성 뇌졸중 환자의 균형 및 보행에 미치는 영향(단일사례설계))

  • Lee, Moon-Kyu;Yun, Tae-Won;Kim, Yoon-Hwan;Lim, Jae-Heon
    • PNF and Movement
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    • v.10 no.1
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    • pp.43-52
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    • 2012
  • Purpose : The purpose of this study was to observe the effect of a gait training using PNF on a gait and balance ability of a person with chronic stroke. Methods : The subject was left hemiplegia due to cerebral infarction. The subject participated in PNF gait training session as well as baseline for 30 minutes a day for 4 weeks. we used the 10-meter walking test(10MWT), figure-8-of walk test(F8WT), dynamic gait index(DGI) for measuring the gait ability and four square step test(FSST), Berg balance scale(BBS) for measuring the balance ability through the whole sessions. Results : The gait ability was enhanced compared to first baseline, as measured by 10MWT(27.3%), F8WT(36.6%), DGI(8 points increased). The balance ability was improved compared to first baseline, as measured by FSST(49.1%), BBS(10 points increased). The increase was maintained in second baseline session. Conclusion : The PNF gait training program is helpful to enhance the adaptation of the gait and balance according to the various environmental demands.

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Study on Correlation between the Gait Analysis Indices and Lumbar X-ray Indicators (보행과 기립위 요추 방사선 지표와의 상관성 연구)

  • Park, Jong-Han;Jeong, Su-Hyeon
    • Journal of Korean Medicine Rehabilitation
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    • v.27 no.4
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    • pp.121-130
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    • 2017
  • Objectives This study was designed to investigate the correlation between the gait analysis indices and Lumbar X-ray indicators. Methods 21 cases of patients who received treatment from October 2013 to February 2017 for abnormal posture were analyzed. Three indicators were measured in the lumbar spine X-ray. These indicators include Ferguson's angle, Lumbar lordotic angle, L4-5 IVD angle. Gait analysis indices were estimated by Treadmill Gait Analysis system. The data were analyzed to find out correlation between the gait analysis indices and Lumbar X-ray indicators. Spearman correlation was used. Results Ferguson's angle and Difference of gait balance of front and rear had a negative linear relationship, but there was no statistical significance. Lumbar lordotic angle and Difference of gait balance of front and rear had a negative linear relationship, but there was no statistical significance. L4-5 IVD angle and Difference of gait balance of right and left had a negative linear relationship, but there was no statistical significance. Conclusions Difference of gait balance of front and rear had strong level of a negative linear relationship with Ferguson's angle and Lumbar lordotic angle.

Gait Estimation System for Leg Diagnosis and Rehabilitation using Gyroscopes (하지 진단 및 재활을 위한 각속도계 기반 측정시스템)

  • Lee, Min-Young;Lee, Soo-Yong
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.9
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    • pp.866-871
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    • 2010
  • Gait analysis is essential for leg diagnosis and rehabilitation for the patients, the handicapped and the elderly. The use of 3D motion capture device for gait analysis is very common for gait analysis. However, this device has several shortcomings including limited workspace, visibility and high price. Instead, we developed gait estimation system using gyroscopes. This system provides gait information including the number of gaits, stride and walking distance. With four gyroscope (one for each leg's thigh and calf) outputs, the proposed gait modeling estimates the movements of the hip, the knees and the feet. Complete pedestrian localization is implemented with gait information and the heading angle estimated from the rate gyro and the magnetic compass measurements. The developed system is very useful for diagnosis and the rehabilitation of the pedestrian at the hospital. It is also useful for indoor localization of the pedestrians.

Development of a 2-DOF Ankle Mechanism for Gait Rehabilitation Robots (보행 재활 로봇을 위한 2자유도 족관절 기구 개발)

  • Heo, Geun Sub;Kang, Oh Hyun;Lee, Sang Ryong;Lee, Choon-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.6
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    • pp.503-509
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    • 2015
  • In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

Evaluation of Validity and Reliability of Inertial Measurement Unit-Based Gait Analysis Systems

  • Cho, Young-Shin;Jang, Seong-Ho;Cho, Jae-Sung;Kim, Mi-Jung;Lee, Hyeok Dong;Lee, Sung Young;Moon, Sang-Bok
    • Annals of Rehabilitation Medicine
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    • v.42 no.6
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    • pp.872-883
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    • 2018
  • Objective To replace camera-based three-dimensional motion analyzers which are widely used to analyze body movements and gait but are also costly and require a large dedicated space, this study evaluates the validity and reliability of inertial measurement unit (IMU)-based systems by analyzing their spatio-temporal and kinematic measurement parameters. Methods The investigation was conducted in three separate hospitals with three healthy participants. IMUs were attached to the abdomen as well as the thigh, shank, and foot of both legs of each participant. Each participant then completed a 10-m gait course 10 times. During each gait cycle, the hips, knees, and ankle joints were observed from the sagittal, frontal, and transverse planes. The experiments were conducted with both a camera-based system and an IMU-based system. The measured gait analysis data were evaluated for validity and reliability using root mean square error (RMSE) and intraclass correlation coefficient (ICC) analyses. Results The differences between the RMSE values of the two systems determined through kinematic parameters ranged from a minimum of 1.83 to a maximum of 3.98 with a tolerance close to 1%. The results of this study also confirmed the reliability of the IMU-based system, and all of the variables showed a statistically high ICC. Conclusion These results confirmed that IMU-based systems can reliably replace camera-based systems for clinical body motion and gait analyses.

Comfort Evaluation by Wearing a Gait-Assistive Rehabilitation Robot (보행보조 재활 로봇 착용에 따른 쾌적성 평가)

  • Eom, Ran-i;Lee, Yejin
    • Journal of the Korean Society of Clothing and Textiles
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    • v.44 no.6
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    • pp.1107-1119
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    • 2020
  • This study analyzed a subject's body reaction and subjective sensation when wearing a gait-assistive rehabilitation robot. The research method measured skin and clothing surface temperatures for 'seating-standing' and 'walking in place' exercises after wearing a gait-assistive rehabilitation robot. In addition, subjective sensation and satisfaction were evaluated on a 7-point Likert scale. The study results showed that the average skin temperature during exercise while wearing the gait-assistive rehabilitation robot was within a comfortable range. However, during the 'seating-standing' exercise, the skin temperature was slightly lowered. Additionally, the clothing surface temperature tended to be lower than the pre-exercise temperature after all exercises. The subjective sensation evaluation results showed that the wear comfort of the waist part was low during mobility/activity. In addition, an overall improvement in the wear comfort of the robot is necessary. The short-time movement of wearing and walking in the gait-assistive rehabilitation robot did not interfere with the thermal comfort of the body. However, the robot needs to be ergonomically improved in consideration of the long wearing time along with improved material that to satisfy overall wearing comfort.