• Journal of Biomedical Engineering Research
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• v.34 no.4
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• pp.197-203
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• 2013

The purpose of this study was to analyze the asymmetry of the reaction forces on lower limbs between dominant and nondominant sides during sit-to-stand movement in normal subjects. Fourteen normal subjects ($22.6{\pm}2.3yrs$, all men) participated in this study. To measure the reaction forces during sit-to-stand movement, two force plates were mounted on the ground and one dual top force plate was mounted on a chair. Five events(movement onset, max thigh reaction force, transition, max hip angle, seat off) were determined from the reaction force and joint angle trajectories. For each of thigh, foot, and total reaction forces, two-way ANOVA was performed with the events and sides as factors. Also investigated was the leg asymmetry expressed as the ratio of the reaction forces of dominant and nondominant sides. The significance of asymmetry was investigated and two-way ANOVA was performed with the events and body parts(foot, thigh and total) as factors. Thigh reaction force and total reaction force showed interaction of events and leg sides(p < 0.01). Post-hoc comparisons showed they were different between sides at the latter stage(transition, max hip angle, and seat off events) (p < 0.01). Asymmetry was also significant at the latter stage(transition, max hip angle, and seat off events) (p < 0.01). Interaction of events and body parts on asymmetry was significant(p < 0.01) and asymmetry was greater in thigh reaction forces than total and foot reaction forces at the events of the latter stage(p < 0.01). The results suggest that asymmetry exist in normal subject and should be fully considered when investigating sit-to-stand strategy of patients.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.191-202
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• 2004

The batting performance in baseball is a repetitive movement. In order to make the stabilization of posture and the efficient shift of body weight, both the range of stance and stride are important. The previous studies explained that the consistent stride which included the amount of time, stance, and direction were needed. However, the batting performance is frequently changed according to the several speed of ball. Therefore, this study was to analyze the reaction time, the range of stance, the change of stride, and the change of GRF during the batting movement in three kinds of ball speed (120km/h, 130km/h, & 140km/h). Seven elite players are participated in this study. 1. The reaction time of the stride phase was short whereas the time of the swing phase was long according to the increasing ball speed. 2. The range of the stance was wide and the mediolateral direction of the stride was decreased according to the increasing ball speed. 3. In the three kinds of ball speed, the change of body weight was transferred to the center, the rear foot, and the front foot directions. The ball speed of 130km/h showed the high frequency of the suitable batting. At this ball speed, the movement of the body weight was shifted smoothly and the value of the Ground Reaction Force was large enough.

• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.475-482
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• 2015

Objective : The purpose of this study was to investigate mean plantar foot pressure, maximum plantar pressure and ground reaction force, and center migration path of pressure according to the type of trekking shoes for the development of shoes. Method : Subjects of the study averaged $22.10{\pm}2.05years$ of age. Their average height was $169.27{\pm}7.62cm$ and their average weight was $64.34{\pm}10.22kg$. The method of this study was administered measuring 50 steps, at once, 3 times at a speed of 4 km/h and using the data of 30 steps. Pedar-X system measured the mean foot pressure, maximum foot pressure, mean maximum force, and center migration path of pressure by subjects' position while walking. Statistical analysis was performed by SPSS 23.0 using a paired t-test. Results : Results of the study showed Nestfit trekking shoes lower foot pressure of both feet in mean foot pressure and maximum foot pressure. Nestfit trekking shoes showed high ground reaction force (p<.001) in the midfoot, and low mean ground reaction force in the rearfoot. The center migration path of pressure showed the Nestfit trekking shoes were more stable than flat insole trekking shoes. Conclusion : It can be concluded that wearing Nestfit trekking shoes spreads pressure efficiently and induces walking stability because Nestfit trekking shoes spread the pressure of the forefoot and rearfoot to the midfoot and the center migration path of pressure shows regularly.

• Physical Therapy Korea
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• v.15 no.1
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• pp.1-11
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• 2008

The purpose of this study was to assess the influence of two shoe size conditions on foot pressure, ground reaction force (GRF), and lower extremity muscle fatigue. Seven healthy men participated. They randomly performed walking and running in two different conditions: proper shoe size and 10 mm greater than proper shoe size. Peak foot pressure, and vertical, anterior and mediolateral force components were recorded with the Parotec system and Kisler force platform. To assess fatigue, the participants performed treadmill running for twenty-five minutes twice, each time wearing a different shoe size. Surface electromyography was used to confirm localized muscle fatigue using power spectral analysis of four muscles (tibialis anterior, gastrocnemius medialis, rectus femoris, and biceps femoris). The results were as follows: 1) In walking conditions, there was a significantly higher peak pressure in the 10 mm greater than proper shoe size insole sensor 1, 2, 14, and 18 (p<.05). 2) In running conditions, there was a significantly higher peak pressure in the 10 mm greater than proper shoe size insole sensor 5, 14, and 15 (p<.05). 3) In walking conditions, there was a significantly higher first maximal vertical GRF in the 10 mm greater than proper shoe size (p<.05). 4) In running conditions, no GRF components were significantly different between each shoe size condition (p>.05). 5) Muscle fatigue indexes of the tibialis anterior and rectus femoris were significantly increased in the 10 mm greater than proper shoe size condition. These results indicate that wearing shoes that are too large could further exacerbate the problems of increased foot pressure, vertical GRF, and muscle fatigue.

• Physical Therapy Korea
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• v.27 no.4
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• pp.227-232
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• 2020

Background: Hallux valgus (HV) is a foot deformity developed by mediolateral deviation of the first metatarsophalangeal joint. Although various foot-toe orthoses were used to correct the HV angle, verification of the effects of kinetics variables such as ground reaction force (GRF) through three-dimensional (3D) gait analysis according to the various type of orthoses for HV is insufficient. Objects: This study aimed to investigate the effect of soft and hard types of foot and toe orthoses to correct HV deformity on the GRF in individuals with HV using 3D motion analysis system during walking. Methods: Twenty-six subjects participated in the experiment. Participants had HV angle of more than 15° in both feet. Two force platforms were used to obtain 3D GRF data for both feet and a 3D motion capture system with six infrared cameras was used to measure exact stance phase point such as heel strike or toe off period. Total walk trials of each participant were 8 to 10, the walkway length was 6 m. Two-way repeated measures ANOVA was used to determine the effects of each orthosis condition on the various GRF values. Results: The late anteroposterior maximal force and a first vertical peak force of the GRF showed that the hard type orthosis condition significantly increased GRF compared to the other orthosis conditions (p < 0.05). Conclusion: There were significant effects in GRF values when wearing the hard type foot orthosis. However, the hard type foot orthosis was uncomfortable to wear during walking. Therefore, it is necessary to develop a new foot-toe orthosis that can compensate for these disadvantages.

• Korean Journal of Applied Biomechanics
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• v.13 no.2
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• pp.161-173
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• 2003

This study was performed to investigate the kinematic and kinetic differences between functional walking shoe(FWS) and general sports shoe(GSS). The subjects for this study were 4 male adults who had the walking pattern of rearfoot strike with normal feet. The movement of one lower leg was measured using force platform and 3 video cameras while the subjects walked at the velocity of 2/1.5 m/s. The findings of this study were as follows 1. The angle of lower leg-ground and angle of knee with FWS was greater than with GSS at the moment of strike the floor and the moment of second peak ground reaction force. The decreasing rate of angle of ankle was smaller in FWS from the strike phase to the second peak ground reaction force. These mean upright walking and round walking along the shoe surface. 2. The maximal Increased angle of Achilles tendon and the minimal decreased angle of rearfoot were smaller in FWS very significantly(p<0.001). Thus FWS prevent the excessive pronation of ankle and have good of rear-foot control. 3. The vortical ground reaction force and the rate of it to the BW were smaller in FWS statistically(p<0.001). The loading rate was smaller in FWS, too, and thess represent the reduction of load on ankle joint and prevention of injuries on it.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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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.

• Korean Journal of Applied Biomechanics
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• v.12 no.1
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• pp.115-124
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• 2002

The purpose of this study is to analyze the ground reaction force of arm landing on arm and leg during sports aerobics. Subjects of this study were total 10 players of 5 males and 5 females who have are domain sports aerobics medalists more than the third place in national tournaments. The subjects jumped between the two ground reaction force analyzers, while landing their right hand on the front platform(#1) and their right leg on the rear platform(#2), and the data frequency was set to 200Hz. Findings of this study are as follows; More than 3 times of impact peak force of vertical reaction force acted on arm joint than on leg joint. And, when ground reaction force on foot increased, ground reaction force on hand decreased. 3 impact peaks of curve of ground reaction force were found - Impact Peak 1 incurred on the time the palm lands on the ground, Impact Peak 2 absorbing shock secondarily on wrist joint, and Active Peak incurred on the time of holding the weight while pushing out the severly bent elbow joint.

• Korean Journal of Applied Biomechanics
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• v.12 no.1
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• pp.193-204
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• 2002

The purpose of this study was to investigate the effect of martial art type and target height on the ground reaction force factors during Dollyuchagi motion. Data were collected using force plate. Five Taekwondo players and five Hapkido players were tested during Dollyuchagi motion to three different target heights(0.8, 1.2, 1.6 m). After analysis of kinetics using force plate data, maximum vertical ground reaction force was 1.62~2.44 BW, and impulse was $0.66\sim1.01 BW{\cdot}s$. Even though there was no difference for maximum ground reaction forces and impulse between Hapkido and Taekwondo, as target height was higher, impulse increased. Anterior-posterior and vertical ground reaction forces at kicking foot take-off were greater with target height, although there was no difference for medio-lateral force with target height. At impact there was significant difference for anterior-posterior ground reaction force between Hapkido and Taekwondo players. Taekwondo players' force (range, -0.23~-0.26 BW) was greater than Hapkido players's force (range, -0.08~-0.14 BW).