• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.476-477
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• 2008

본 연구에서는 가속도 센서를 이용하여 보행패턴을 검출하고 가속도 센서의 출력 값을 무선으로 PC에 실시간으로 전달할 수 있는 휴대용 모듈을 개발하였다. PC에서는 휴대장치로부터 전송되는 데이터를 수집하여 운동패턴을 화면에 실시간으로 출력할 수 있게 하였다. 휴대 장치의 전력 소모를 최대한 줄이기 위해 무선 전송 부분은 zigbee 통신을 사용하였다. 착용자의 걸음걸이 패턴을 분석하기 위해 2축 가속도 센서를 사용하였으며 기본적인 보행수는 임계치를 사용하는 moving average 알고리즘을 이용하여 마이크로 콘트롤러에서 처리하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.309-310
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• 2021

본 연구는 건강 이상 감지를 위해 보폭 이상을 판단하는 신발과 어플리케이션을 연동하여 알츠하이머 등의 뇌손상으로 인한 보폭 이상을 미연에 예방하고 개선하는데 목적이 있다. 보행 이상 감지를 위해 보폭을 판단하는 건강진단신발은 측정부가 설치되며, 알츠하이머 등의 뇌손상에 의해 보폭이 줄어드는 경우 보폭이 좁아지는 것을 경고함으로써 장소와 시간에 구애받지 않고 신발착용자 스스로 보행 진단 및 교정이 이루어질 수 있다.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.177-195
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• 2005

The purpose of this study was to analyze the kinematic variables of ankle joints and EMG signal of the lower limbs muscle activity for the different walking speed. The subjects were 6 males of twenties. It was classified into three different walking speed-0.75m/s, 1.25m/s, 1.75m/s. The walking performances were filmed by high speed video camera and EMG signal was gained by ME3000P8 Measurement Unit. Tibialis anterior(TA), Gastrocnemius medial head(GM), Gastrocnemius lateral head(GL), Ssoleus(SO) were selected for the dorsiflexion and plantarflexion of the ankle joint. The result of this study were as follows: 1. In the gait cycle, The time parameters for the phases were showed significant difference without the terminal stance phase and terminal swing phase for the different walking speed. 2. The angle of ankle joint was no significant difference for each time point and MDF, MPF but increasing walking speed the angle had the increasing pattern slightly. 3. The angular velocity of ankle joint was showed the significant difference for LHC, RTO, RKC, LHU, MPF and MDF point along the walking speed. 4. TA was showed about 2-3 times muscle activity at the 1.75m/s than 1.25m/s in some phases. And it was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 0.75m/s. GM was showed about 2-3 times muscle activity in the 1.75m/s than 1.25m/s, and even much muscle activity at the 0.75m/s than 1.25m/s in some phases. GL was showed increasing pattern of muscle activity specially in the initial swing phase as the walking speed increased. SO was showed about 3 times muscle activity in the 1.75m/s than 1.25m/s during the plantarflexion of ankle joint. It was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 1.25m/s.

• Journal of Biosystems Engineering
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• v.32 no.5
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1709-1712
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• 2008

The trunk is inclined to the loaded side when carrying an object as one of activities of daily living. As the reaction to this behavior the human body may be inclined to his/her trunk to unloaded side. The present study investigated the biomechanical effects of weight variation for sided load carriage during walking upon joint moments and muscle torques, through the tracker agent and joint driving dynamic analysis. To perform the experiment one male was selected as subject for the study. Gait analysis was performed by using a 3D motion analysis system. Thirty nine 14mm reflective markers, according to the plug-in marker set, were attached to the subject. We used BRG.LifeMOD(Biomechanics Research Group, Inc., USA), for skeletal modeling and inverse and joint driving dynamic simulation during one gait cycle. In walking with a sided load carriage, the subject modeled held the carriage with the right hand, which weighed 0, 5, 10, 15kg, 20kg respectively. The result of this simulation showed that knee and hip in the coronal plane were inclined to the loaded side and loaded side had larger moments as the sided load carriage was increased. On the other hand thoracic and lumbar in the coronal plane had larger negative values as the sided loaded carriage was increased. The thoracic and lumbar in the transverse plane also had larger values as the sided load was increased. And the several muscles of loaded side were increased as increasing sided load. It could be concluded that human body is adopted to side loaded circumstances by showing more biologic force. These results could be very useful in analysis for delivery motion of daily life.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• Journal of Korean Physical Therapy Science
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• v.4 no.1
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• pp.303-313
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• 1997

We developed the shoes which is specially designed to decrease the leg's fatness during walking and to improve the body figure. The analysis of the gait cycle and the shoes gave changes at the swing phase. We examined the results to 30 girl students of Yeong Dong Junior College for 5 weeks from 27, October to 29, Nobember in 1996, and the results were also obtained in decrease of their thigh's size in circumference. The results of the analysis are as followings; 1) After experiment circumference of the right thigh was decreased 0.04cm in noncontrol group and significantly decreased 1.04 cm in control group(p<0.01). 2) After experiment circumference of the left thigh was decreased 0.27 cm in noncontrol group and significantly decreased 1.17cm in control group(p<0.01). 3) After experiment circumference of the right calf of the leg decreased 0.09 cm in noncontrol group and significantly decreased 0.54 cm in control group(p<0.01). 4) After experiment circumference of the left calf of the leg decreased 0.21 cm in noncontrol group and significantly decreased 0.47 cm in control group. 5) After experiment body weight were not changed significantly in both group. In these results, if the people want to exercise the analysis of fat in the thigh, put on the shoes which improves the body figure and do daily work, and it will be naturally decreased the fat in thigh and they will maintain the beauty lines of the legs. There weren't any changes in the body weight while the fat of thigh in circumsference was analysed and decreased. It means that because the weight of the fat is very light, there weren't any changes in body weight.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.22-31
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• 2021

Objective: This review aims to analyze the effects of electromechanically assisted walking in patients with cerebral palsy(CP). Design: A systematic review and meta-analysis. Methods: We reviewed systematically using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) checklist guidelines. The inclusion criteria for this study were all CP patients. The intervention was electromechanically assisted walking. The outcome measures included gait parameters, function, spasticity. Studies excluded from this review were excluded from the review if they were non-English languages and if the study was not published as a full report, and if they were not randomized controlled trials (RCTs) designs. The RevMan 5.4 program was used to evaluate and explain the results. The risk of bias was evaluated independently by two reviewers. The quantitative meta-analysis, including mean differences (MD) and associated standard deviations (SD) from baseline and follow-up assessments, were recorded. Results: A total of 634 articles were searched. Two hundred eighty-nine duplicate articles were excluded, and 345 of 634 originals were left for selection. Of these 74 papers, 44 were out of topic, and 19 reported no mean or standard deviation values. And one was a non-experimental study. Finally, ten studies were included. All 10 RCTs of electromechanically assisted walking were analyzed. The meta-analysis showed a significant improvement in gait cycle (95% CI (confidence intervals), 0.09 to 0.19, I2=0%), Gross Motor Function Measure (GMFM) D (95% CI, 3.27 to 13.17, I2=0%) and GMFM E (95% CI, 0.22 to 6.41, I2=0%). Conclusions: Electromechanically assisted training helps in walking in patients with CP.

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.459-468
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• 2001

The Average Coordinate Referenee System (ACRS) method is developed to reduce experimental errors in human locomotion analysis. Experimentally measured kinematic data is used to conduct analysis in human modeling, and the model accuracy is directly related to the accuracy of the data. However. the accuracy is questionable due to skin movement. deformation of skeletal structure while in motion and limitations of commercial motion analysis system . In this study. the ACRS method is applied to an optically-tracked segment marker system. although it can be applied to many of the others as well. In the ACRS method, each marker can be treated independently. as the origin of a local coordinate system for its body segment. Errors, inherent in the experimental process. result in different values for the recovered Euler angles at each origin. By employing knowledge of an initial, calibrated segment reference frame, the Euler angles at each marker location can be averaged. minimizing the effect of the skin extension and rotation. Using the developed ACRS methodology the error is reduced when compared to the general Euler angle method commonly applied in motion analysis. If there is no error exist in the experimental gait data. the separation and Penetration distance of the femoraltibial joint using absolute coordinate system is supposed to be zero during one gait cycle. The separation and Penetration distance was ranged up to 18 mm using general Euler angle method and 12 mm using the developed ACRS.

• Journal of the Korean Society of Physical Medicine
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• v.16 no.2
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• pp.81-90
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• 2021

PURPOSE: Aging causes a decrease in muscle mass and a change in posture, which reduces motor function and makes it difficult to perform daily activities independently. As these factors are closely related to the deterioration of the quality of life, it is very important to prevent and manage negative changes in the musculoskeletal system. Forest healing is a nature therapy course that maintains and promotes health using various environmental factors in a forest. The purpose of this study was to identify the effects of the forest healing anti-aging programs on the physical health of the elderly. METHODS: Ten elderly people participated in this study, as part of a forest healing anti-aging program for two days. Functional fitness, muscle strength, gait function, and balance were evaluated before and after the program. RESULTS: The number of arm curls, chair stands, and steps in a 2-min walk significantly increased (p < .05). 8-feet up & go time was significantly decreased (p < .05). Biceps brachii, quadriceps femoris, and calf muscle strength were significantly increased (p < .05). Gait velocity and cadence were significantly increased (p < .05). Step length, stride length, step time, swing time, stance time, and cycle time were significantly decreased (p < .05). Reaching distance in the lateral directions was significantly increased (p < .05). CONCLUSION: The forest healing anti-aging program improves the physical health of the elderly.