• Journal of the Korea Society of Computer and Information
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• v.27 no.7
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• pp.145-152
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• 2022

Stroke results in balance disorders, these directly affect autonomy and gait ability. The aim of this meta-analysis was to determine the efficacy of proprioceptive neuromuscular facilitation on balance and gait. We included all randomized controlled trials assessing the efficacy of proprioceptive neuromuscular facilitation on balance and gait control in patients after stroke. This study was conducted according to the PRISMA guideline. Cochrane library, CINAHL, and PubMed were searched for studies published up to November 2021, and all randomized controlled trails(RCT) assessing PNF therapy were included. This analysis included only RCT. A total of 18 studies were selected from 1091 records obtained from the databases. The meta-analysis was performed using the R project for statistical computing version 4.0.2. The overall intervention effect was middle (standardized mean difference (SMD): 0.56) Additionally, berg balance scale (SMD: 0.48), functional reach test (SMD: 0.51), timed up and go test (SMD: 0.78), 10m walking test (SMD: 0.52), and dynamic gait index (SMD: 0.33) had medium effect sizes. The average Pedro scale was 6.63 out of 18, with a low risk of bias. These findings indicate that PNF is an effective therapy for improving balance gait in stroke patients.

• 한국노년학
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• v.29 no.4
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• pp.1261-1275
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• 2009

Age related decrease of muscle strength, balance, and gait abilities bring about physical inactivity in the elderly. Virtual reality (VR) training has been used successfully to rehabilitate functional balance and mobility in elderly subjects. This study was aimed at determining the effect of VR-based exercise programs by using a video game on the muscle strength, balance, and gait abilities in the elderly. 48 old people were randomly divided into two groups; VR-group (men: 11, women: 14, age: 68.42yrs) and control group (men: 10, women: 13, age: 67.58yrs). VR-group performed an exercise program twice a week for 8 weeks and control group had no intervention. The VR-based exercise program was composed of warm up(10 mins), VR-program(40 mins), and cool down(10mins). It was performed by playstation eyetoy play that provided visual and auditory feedback as well as movements of the upper and lower extremities. Muscle strengths of the knee and ankle were measured using manual muscle tester. Static balance was estimated using computerized posturography. Dynamic balance was measured by Timed up and go test (TUG), Functional reach test (FRT). 10m walk test and 6-min walk test were used to assess gait abilities. After the completion of the VR-exercise program, muscle strength, balance, and gait abilities were improved significantly (p<0.05). In conclusion, the VR-based exercise program showed improvement on the muscle strength, balance, and gait ability in the elderly. This exercise program is both effective and interesting for this age group.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.843-848
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• 2007

Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1934-1937
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• 2005

This paper proposes suitable gait generation for dynamic walking of biped robot with varying load in real time. Author proposes the relationship between ZMP(Zero Moment Point) and measurement from FSR(Force Sensing Register). Simplifying this relationship, it is possible to reduce the computational time and control the biped robot in real time. If the weight of the biped robot varies in order to move some object, then joint trajectories of the the biped robot must be changed. When some object is loaded on the biped robot in it's home position, FSRs can measure the variation of weight. Evaluating the relations between varying load and stable gait of the biped robot, it can walk adaptively. This relation enables the biped robot to walk properly with varying load. The simulation is also represented in this paper which shows proposed relationships.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2405-2407
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• 2003

This study deals with the gait optimization of via points on biped robot. ZMP(Zero Moment Point) is most important index in a biped robot's dynamic walking stability. To stable walking of a biped robot, legs's trajectory and a desired ZMP trajectory is required, balancing weight's movement is solved by FDM(Finite Difference Method). In this study, optimal index is defined to dynamically static walking of a biped robot, and optimization of via points is applied by GA(Genetic Algorithm).

• Journal of the Korean Society of Physical Medicine
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• v.11 no.2
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• pp.83-91
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• 2016

PURPOSE: The purpose of this study was to determine the efficacy of dual-task action observation training (AOT) and single-task AOT related with daily living task on walking ability and ADL performance in chronic stroke patients. METHODS: Twenty-seven chronic stroke subjects were included in the study. They were randomly assigned to three task categorieds as follows: whole dual-task AOT or partial dual-task AOT or single-task AOT rehabilitation. Whole dual-task AOT observed the movement at once and partial dual-task AOT observed the movement divided into 4 parts related functional gait and activities of daily living task for 2 minutes 30 seconds. Single-task AOT observed the movement related functional gait for 2 minutes 30 seconds. Both groups had physical training session for 12 minutes 30 seconds. The study was conducted for four weeks, with three training sessions a week, for twelve weeks. All subjects were evaluated for their walking ability and activities of daily living through devices, 10m walking test (10MWT), dynamic gait index (DGI), and Korea-Modified Barthel Index (K-MBI). RESULTS: A significant improvement of walking ability and ADL performance happened among dual-task AOT subjects, compared with a single-task AOT subjects, during the 4-weeks course treatment. The results of the study showed statistically significant differences in 10MWT (p<0.05) and DGI (p<0.05), and K-MBI (p<0.05). CONCLUSION: Our results indicated that dual-task AOT has a positive additional impact on recovery of walking ability and ADL performance in chronic stroke patients.