• 대한족부족관절학회지
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• 제8권1호
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• pp.111-113
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• 2004

In neurogenic equinovarus deformity, surgical intervention such as tendon transfer or osteotomy can be expected to improve symptoms. However, in rare cases of hereditary spastic paraplegia, the deformity and paralysis gradually progress. So limited operation and early post-operative rehabilitation are preferred to aggressive operation. We would like to report our clinical experience with one case of hereditary spastic paraplegia patient with reference review. A 40 year-old male, given tendon transfer of ankle and foot and tendo achilles lengthening 10 years ago, complained about aggravated spastic paraplegia which resulted in dynamic equinovarus and limited walking ability since his operation. Family history showed limited walking ability of his father with gradually progressing spastic paralysis and he was diagnosed as hereditary spastic paraplegia type I. We had performed a limited operation such as tendo achilles and tibialis posterior lengthening to induce plantigrade standing and walking with crutch. As a result, the patient was able to maintain a stabilized standing posture and walk after the operation. Hereditary spastic paraplegia presents with a progressive paralysis which limits rehabilitation after tendon transfer, and the symptoms can be aggravated. Therefore, considering potential hereditary neurogenic disorders in paients with equinovarus deformity and performing limited operative procedures seem to be important.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.765-768
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• 2000

Linearization of the biped dynamic equations and design of linear controller for the linearized equations are studied in this paper. The biped robot with inverted pendulum type trunk, used to stabilize the dynamic balancing of the biped robot during dynamic walking period, is modelled with 14 DOF and simulated. Despite of well defined linear control theories so far, the linear control methods was limited to the applications for a walking robot, because they have been inherently strong nonlinear properties, such as a modeling parameter uncertainties, external forces as noise, inertial and Coriolis terms by three dimensional modeling and so on. To linearize the nonlinear equations of motion of biped robot on MIMO and time varying linear equations of motion, 1st order Taylor series is used to formulate the linear equation. And a 2nd order numerical perturbation method Is used to approximate partial differential equations. Using the linearized equations of motion, a linear controller is designed by pole placement method with feed forward compensation. Using the obtained linearized equations and linear controller, the continuous walking simulation is performed.

• PNF and Movement
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• 제11권2호
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• pp.21-29
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• 2013

Purpose : The study was to evaluate the weight distribution, balance and gait function of stroke patients wearing lateral wedged insole to the shoe of the affected side. Methods : 27 patients with stroke (15 men, 12 women) participated in this study. Participants performed weight distribution, dynamic balance and gait ability with or without wedged insole on affected side in a random order. The balancia was used to evaluate the weight distribution. Deviation from the center line was analyzed by Dartfish during sit to stand to evaluate dynamic balance. The functional walk ability evaluated by 10 m walking velocity. Results : The asymmetry index of weight bearing improved significantly with wedged insole of affected side(p<.05). During sit to stand, center of gravity significantly moved from non-affected side to more mid line of body(p<.05). Improvement were shown in walking speed after wearing the wedged insole(p<.05). Conclusion : Wedged insole applied on affected side have a beneficial effect on weight distribution, dynamic balance and walking speed with stroke.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• 기본간호학회지
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• 제17권1호
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• pp.55-63
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• 2010

Purpose: The purpose of this study was to determine the effects of the BeHaS exercise program on balance and walking ability in middle-aged women with knee osteoarthritis. Method: Participants were 36 patients (experimental group: 18, control group: 18) with knee osteoarthritis. Women with knee osteoarthritis in the experimental group participated in the BeHaS exercise program for 65 to 90 minutes per session twice a week for 12 weeks. Data were collected by a structured interview and measurement tool from September 1, 2005 to March 30, 2006. Descriptive statistics, such as frequency, percentages, means, SD and t-test, Chi square test were used with the SPSS Win 12.0 to analyze the data. Results: There was a significant difference between the two groups for dynamic balance, but differences in balance and walking ability were only partially supported. Conclusion: These findings indicate that the BeHaS exercise program could be a good nursing intervention for health maintenance and promotion of patients with knee osteoarthritis. Further research is needed in order to confirm these findings in elderly people with osteoarthritis.

• 한국운동역학회지
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• 제20권4호
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• pp.479-486
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• 2010

The purpose of this study was to determine the effects of high-heeled shoe on the quiet standing and gait balance. Twenty women (mean height: $161.6{\pm}3.3\;cm$, mean body mass: $53.8{\pm}6.3\;kg$, mean age: $23.8{\pm}2.7$ yrs..) who were without history or complain of lower limb pain took part in this study. They were asked to stand quietly on a force platform for 30 sec and walk on it at their preferred walking speed (mean speed $3.14{\pm}0.5\;km/hr$.) with wearing three different high-heeled shoe, 3, 7, 9 cm high for collecting data. Data were randomly recorded to collect two trials for quiet standing and five trials for walking The parameters to have been analyzed for comparison between three conditions of the height of high-heeled shoe were COP(Center of Pressure) range, COP velocity, sway area, and free moment on the static balance and COP range, COP velocity, and free moment on the dynamic balance. In this study, high-heel height affected on the COP range and velocity in the ante-posterior direction during walking, dynamic balance, but didn't affect on the quiet standing, static balance.

• 대한물리의학회지
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• 제12권1호
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• pp.67-74
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• 2017

PURPOSE: The purpose of this study was to determine the effect of action observation with observation type on the limits of stability and dynamic gait ability in stroke patients. METHODS: The 20 stroke patients who participated in this study were randomly divided into two experimental groups who underwent training three times a week for 4 weeks. Their balance was tested as the limit of stability with Biorescue. Their Dynamic gait ability was tested with the Dynamic Gait Index (DGI) before the intervention, and after 4 weeks. Independent and paired t-tests were used to analyze the results. RESULTS: The results confirmed the limit of stability on the moving areas of the paralyzed and non-paralyzed sides. The limit of stability and dynamic gait index measurements confirmed that the moving area showed a significant difference after the intervention in the whole movement observation group (p<.05), but the partial movement observation group showed no significant difference (p>.05). A significant difference was also noted for the comparison between the both groups after the interventions (p<.05). The functional walking ability showed a significant difference when compared to the ability before the intervention, as determined by the changes in scores obtained for the dynamic gait index (p<.05). CONCLUSION: Interventions utilizing whole movement confirm that training improves stability and functional walking ability in stroke patients with disabilities in balance and walking ability.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 한국지진공학회논문집
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• 제7권1호
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• pp.65-72
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• 2003

이 연구의 목적은 무리보행하중을 받는 구조물의 주요 지점에 대한 응답을 계측하고 분석하여 하중의 특성을 파악하는 것이다. 이를 위하여 먼저 건축구조물의 동특성을 파악하였으며 이를 바탕으로 무리보행하중의 주파수 특성을 파악할 수 있는 식을 유도하였다. 그리고, 단위보행하중의 주파수 특성을 바탕으로 무리보행하중의 크기를 평가할 수 있는 방법을 제안하였다. 유도된 식은 무리보행하중의 진동수 및 크기를 잘 나타내었으며, 단위보행하중을 기준으로 한 무리보행하중의 크기를 평가하는 경우에는 고차모드형상을 포함하여야 좋은 결과를 얻을 수 있는 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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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.