• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.589-590
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• 2009

• The Journal of the Korea Contents Association
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• v.13 no.3
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• pp.109-118
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• 2013

The purpose of this study was to determine the effects of line dance programme on the balance ability during walking to reveal the exercise intervention for fall prevention. A 12-week line dance programme was applied to 18 elderly females who aged more than 65 years in the community. Balance ability during walking was evaluated by the range of center of pressure(cop), the velocity of cop, and free torque that calculated on the basis of ground reaction force data. The range and velocity of cop in the anterio-posterior were significantly reduced after performing(p<.01, p<.05, respectively), but change in those of cop in the medio-lateral and free torque were not found. It was demonstrates that 12-week line dance programme allows more effective in anterio-posterior stability of walking. It was suggested that the effect of fall prevention exercise should be studied more associate with fall frequency as future study.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.6
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• Journal of Korean Society of Forest Science
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• v.103 no.3
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• pp.503-509
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• 2014

The purpose of this study was to investigate the effect of Forest-walking exercise on gait pattern in the elderly. The subjects (n=37) were assigned to 2 groups: Forest-walking exercise (FWE) group (n=19, $66.34{\pm}4.31$ years old) and In-door treadmill-walking exercise (ITWE) group (n=18, $67.18{\pm}2.78$ years old). The subjects participated in FWE program or ITWE program (3 times/week, 80 min/day) for 12 weeks. The subjects were tested on functional fitness (strength, endurance, agility/balance, BMI) and gait pattern (cadence, velocity, and stability) at the beginning and the end of the 12-weeks program. For data analysis, mean and standard deviation scores were calculated, and independent t-test and repeated two-way ANOVA were used. The results of this study were as follow: First, FWE group was significantly more improved than ITWE group on functional fitness(lower-body muscular strength, lower-body flexibility, mobility, cardiorespiratory endurance) after 12-weeks exercise program. But both groups showed equally improvements on functional fitness (upper-body muscular strength, upper-body flexibility, BMI). Second, FWE group was significantly more improved than ITWE group on cadence, gait velocity, and gait stability after 12-weeks exercise program. Therefore, this study may suggest that Forest-walking exercise based on sensory-motor functional integration improves efficiently functional fitness and gait pattern in the elderly, and further becomes an effective exercise method that makes more dynamic life, and prevents from falling.

• Journal of Digital Convergence
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• v.11 no.7
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• pp.281-288
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• 2013

The purpose of this study was to identify the effects of upper and lower limb coordinated exercise for gait ability in stroke patients. Upper and lower limb coordinated exercise method was conducted in two different groups; one is an one leg support group and the other is a non support group. In this study, 14 patients were participated. One leg support group was applied to 7 patients, and non support group was applied to 7 patients. Both group carried out 3 times a week for 30 minutes during 4 weeks. Data were analyzed statistically via Repeated two-way ANOVA, Mann-Whitney U test, and Friedman test. The results of the measurement analysis were summarized as follows: 1. There were significant differences in 10MWT among 2 groups after intervention(p<.05). 2. There were significant differences in F8WT, FSST among 2 groups after intervention(p<.05). According to Bonferroni test, one leg support group had significant increased from pre-intervention to post-4 week. However, there were no significant differences in nonsupport group. In conclusion, improvement of gait ability in chronic stroke patients was effect to upper and lower limb coordinated exercise.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.2
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• pp.107-112
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• 2016

The purpose of this study was to determine the effect of aquatic ramp walking exercise on the activity of the quadriceps, gait and activity of daily living in child with Spinal Muscular Atrophy (SMA) type II. A 5 years-old girl with SMA type II participated in this study. This study used single-subject reverse(A-B-A) design study. There are 12 sessions(4weeks 3 times a week) each during the baseline phase(A), the intervention phase(B), the follow up phase(A). During the baseline phase and the follow up phase performed general aquatic therapy, the intervention phase additional performed walking activity on ramp in pool (60m). Surface electromyogram, Timed Up and Go (TUG) test, ACTIVLIM were used as outcome. During the intervention phase, there were decrease on the activity of the quadriceps. In modified TUG test, gait time reduced during the intervention phase. The ACTIVLIM logit score increased during intervention phase by comparison with the baseline phase. These findings suggest that an aquatic ramp walking exercise activities have the therapeutic possibility on the quadriceps activity and gait ability for child with SMA type II.

• Proceedings of the KAIS Fall Conference
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• 2010.11b
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• pp.595-598
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• 2010

본 연구의 목적은 뇌졸중으로 인한 만성 편마비 환자를 대상으로 발에 시지각 자극을 적용하여 균형과 보행에 관한 운동기능에 미치는 효과를 알아보고자 하였다. 6개월 이상 된 편마비 환자 16명이 연구에 참여하였고, 무작위로 실험군(EG) 10명과 대조군(CG) 10명으로 구분하였다. 두 군 모두 기본적인 물리치료를 적용하였고 실험군은 정적균형도구인 Tetrax Multiple System을 이용하여 발목에 감각되먹임 시지각 자극을 매회 30분, 4주간 주 3회 실시하였다. 운동 중재 전과 후의 운동기능에 해당하는 균형(TUG), 보행(DGI)을 측적하여 본 연구의 효과를 비교하였다. 실험군에서 정적 균형, TUG, 그리고 동적 균형지수(DGI) 지수는 중재 전후 통계적으로 유의한 차이를 나타냈고(p<.05), 실험, 대조군간 전후의 변화율에서도 유의한 차이가 나타났다(p<.05). 대조군에서는 DGI 만 중재 전후 통계적으로 유의한 차이가 나타났다. 순수하게 유산소 운동만을 실시하였다. 통계처리 방법으로 전 후 차이를 검증하기 위하여 대응표본 t 검정을 실시하였고 대조군과의 차이 검증을 위하여 독립표본 t 검정을 실시하였다. 모든 통계적 유의수준은 0.05로 하였다. 본 연구에서는 편마비 환자에게 흥미를 촉진하고 운동 기능 회복의 효과를 강화할 수 있는 감각 되먹임이 동반된 시지각 자극을 적용하여 균형 및 보행기능의 향상을 얻을 수 있었고, 차후 연구는 장기간의 추적 관찰 연구가 지속되어야 하고 발목 뿐만 아니라 다른 관절에서의 비교연구가 필요할 것이다.

• Proceedings of the Korea Contents Association Conference
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• 2013.05a
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• pp.381-382
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• 2013

본 연구의 목적은 젊은 성인과 노인의 장애물 보행 시 신체질량중심의 변위와 최대속도를 3차원적으로 비교 분석하여 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있는지를 검증하는데 있다. 본 연구의 대상은 건강한 젊은 성인 10명(남성 6명/여성 4명, $24.6{\pm}1.9$세)과 65세 이상 건강한 노인 10명(남성 1명/여성 9명)으로 선정하였다. 각 피험자 신장의 10% 높이의 장애물 보행을 실시하였으며 동작 분석 장비를 통해 신체질량중심의 변위와 최대속도를 3차원적으로 분석하였다. 전후방향에서는 젊은 성인 집단의 변위가 더 크고(p=.019) 최대속도가 더 빠르게 나타났으며(p<.001), 좌우방향에서는 노인 집단의 변위가 더 크고(p=.004), 더 빠르게 나타났다(p<.001). 수직방향에서의 변위는 유의한 차이가 없었고(p=.135), 최대 속도는 젊은 성인 집단이 더 빠르게 나타났다(p<.001). 신체질량중심의 좌우방향에서의 크고 빠른 움직임은 노인의 동적 균형능력 저하로 인해 넘어가는 발(swing limb)의 안정적인 지지면 딛기를 위한 보상적 조절로 여겨지며, 따라서 노인의 낙상위험 및 균형능력을 평가할 수 있는 중요한 요소가 될 수 있을 것으로 사료된다.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.203-211
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• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.56 no.4
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• pp.161-167
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• 2007

This paper introduces a dynamic walking control of biped walking robot using intelligent sensor interface and shows an intelligent control method for biped walking robot. For the dynamic walking control of biped walking robot, serious motion controllers are used. They are main controller(using INTEL80C296SA MPU), sub controller(using TMS320LF2406 DSP), sensor controller(using Atmega128 MPU) etc. The used sensors are gyro sensor, tilt sensor, infrared sensor, FSR sensor etc. For the feasibility of a dynamic walking control of biped walking robot, we use the biped walking robot which has twenty-five degrees of freedom(D.O.F.) in total. Our biped robot is composed of two legs of six D.O.F. each, two arms of five D.O.F. each, a waist of two D.O.F., a head of one D.O.F.