• Journal of Information Processing Systems
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• v.15 no.4
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• pp.957-966
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• 2019

This paper studies a novel approach to natural gait cycles based gait recognition via kernel Fisher discriminant analysis (KFDA), which can effectively calculate the features from gait sequences and accelerate the recognition process. The proposed approach firstly extracts the gait silhouettes through moving object detection and segmentation from each gait videos. Secondly, gait energy images (GEIs) are calculated for each gait videos, and used as gait features. Thirdly, KFDA method is used to refine the extracted gait features, and low-dimensional feature vectors for each gait videos can be got. The last is the nearest neighbor classifier is applied to classify. The proposed method is evaluated on the CASIA and USF gait databases, and the results show that our proposed algorithm can get better recognition effect than other existing algorithms.

• Journal of Korean Physical Therapy Science
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• v.10 no.2
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• pp.17-28
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• 2003

The aim of this study was to investigate the effects of treadmill gait training on the functional characteristics and the temporal-distance parameters of gait in hemiplegic patients, as compared with conventional gait training. The subjects of this study were 32 hemiplegic patients who had been admitted or were visited out-patients at Kangdong Sacred Heart Hospital, Hallym University, from March 3 through April 25, 2003. These subjects were randomly divided into treadmill gait training group or conventional gait training group. We evaluated the gait ability, motor functions, muscle strength, spasticity, physiological cost index, and temporal-distance parameters. We analyzed the changes between pre and post training in each groups, and the difference between two groups. Temporal-distance parameters were obtained using the ink footprint method and then energy consumption using physiological cost index. The results were as follows: 1. After a six-week training, treadmill gait training group significantly improved, as. compared to pre-training, in gait ability, motor functions for the leg and trunk and gross function, muscle strength of the lower limb, gait speed, cadence, step length both on the affected and on the unaffected side, step length symmetry, and energy consumption(p<0.05). 2. After a six-week training, conventional gait training group significantly improved, as compared to pretraining, in gait ability, motor functions for the leg and trunk, muscle strength of the lower limb, spasticity the upper limb, gait speed, cadence, step length both on the affected and on the unaffected side, and energy consumption(p<0.05). 3. After a six-week training, the treadmill gait training group significantly improved, as compared to the conventional gait, training, in gait speed and step length on the unaffected side. These results show that treadmill gait training was improved gait speed and step length on the unaffected side of hemiplegic patients, as compared with conventional gait training. Further research is needed to confirm the generalization of these findings and to identify which hemiplegic patients might benefit from treadmill gait training.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.78-81
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• 1997

In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.126-132
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• 2009

This study examined the differences in spatio-temporal parameters, joint angle, ground reaction force (GRF), and joint power according to the changes of gait speed for trans-tibial amputees to investigate the features of the energy-storing foot for sports. The subjects walked at normal speed and at fast speed, wearing a single-axis type foot (Korec) and an energy-storing foot for sports (Renegade) respectively. The results showed that Renegade yielded faster gait speed as well as more symmetric gait pattern, compared to Korec. However, as gait speed was increased, there was no significant difference in kinematics, ground reaction force, and joint power between two artificial foots. This was similar to the results from previous studies regarding the energy-storing foot, where the walking velocity and gait symmetry have been improved. Nevertheless, the result of this study differed from the previous ones which reported that joint angle, joint power, and GRF increased as the gait speed increased except spatio-temporal parameters.

• Journal of Korean Physical Therapy Science
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• v.15 no.1
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• pp.39-45
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• 2008

This study was undertaken to identify the influence which affect on gait speed and energy consumption regarding putting on arm sling during gait of the 40 hemiplegic patients selected from University Hospital and rehabilitation center in seoul during two months. The analysis of data was performed using the paired samples ttest to compare the differences of gait velocity, heart rate, oxygen consumption and oxygen cost in gait of preand post－ arm sling. The results of this study were as follows; 1. When comparing the result before putting on arm sling in the gait of hemiplegic patient, gait velocity after putting on arm sling was statistically significantly increased(p<.05). 2. When comparing the result before putting on arm sling in the gait of hemiplegic patient, heart rate after putting on arm sling was statistically significantly decreased(p<.05). 3. When comparing the result before putting on arm sling in the gait of hemiplegic patient, oxygen consumption per weight after putting on arm sling was statistically significantly decreased(p<.05). 4. When comparing the result before putting on arm sling in the gait of hemiplegic patient, oxygen consumption rate per weight after putting on arm sling was statistically significantly decreased(p<.05). When putting together the above result, the gait with arm sling in comparison with the gait without arm sling was to increase gait velocity, decrease heart rate, decrease oxygen consumption and was finally to decrease energy consumption in the gait of hemiplegic patient.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.814-817
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• 2004

It is a challenging task to make the paraplegic to walk with out the assist of the caregiver. So, we have developed various type of gait orthosis for paraplegic during the five years lately. The purpose of this study ultimately is energy consumption test of serveral type gait orthosis for developing the high efficiency gait orthosis. From the experimental results, the oxygen consumption rate were 6.9$\pm$3.3ml/kg in RGO gait, 5.3$\pm$1.3ml/kg in PGO, and 6.2$\pm$3ml/kg in HGO gait. The maximum hip flexion angle were 16$^{\circ}$ in RGO , 15$^{\circ}$ in PGO, and 47.5$^{\circ}$. in HGO. As a result It was found that. Hybrid Gait Orthosis need high energy consumption more than PGO for walking, but it is small weight and strengthened muscle.

• Physical Therapy Korea
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• v.13 no.2
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• pp.35-42
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• 2006

The walker provides stability for walking for people whose lower extremities are disabled. It is important to measure and determine the appropriate height of a walker to conserve energy and to improve function. The purposes of this study were to examine effects of walker height and gait velocity on triceps, latissimus dorsi muscle activation, and energy expenditure index (EEI) during ambulation with a walker. Fifteen healthy subjects participated in this study. Each subject was assigned a walker with one of three heights (high, standard, lower height) and of two gait velocities (comfortable gait velocity or fast gait velocity). Electromyographic data were collected from triceps and latissimus dorsi, and EEI was determined from each condition. Two-way repeated analysis of variance (ANOVA) was used to determine the statistical significance. Post hoc comparison was performed with the Bonferroni test. The results of this study were summarized as follows: 1. There was a significant difference in the %MVIC of triceps among different walker height factors. Post hoc comparison revealed that %MVIC of dominant triceps brachii was more significantly increased in patients who used the higher walker than those who used the lower walker (p<.05). 2. There were significant differences in the %MVIC of the latissimus dorsi among different walker height factors and gait velocity factors. Post hoc comparison revealed that the %MVIC of dominant latissimus dorsi was also more significantly increased in patients who used the higher walker than those who used the lower walker (p<.05) and in those who used the faster gait velocity than those who used the slower gait velocity (p<.05). 3. There were significant differences in the EEI among different walker height factors and gait velocity factors. Post hoc comparison revealed that the EEI was significantly increased among those who used higher and lower walkers compared with the standard walker. The EEI was also more significantly increased among those who used the fast gait velocity than those who used the slower gait velocity (p<.05). It has been concluded that increased muscle activation in triceps and latissimus dorsi was required when the walker height increased and that more energy was exp ended when the gait velocity increased. Therefore, from the findings of this study, it is recommended that walker height be adjusted according to the purposes of gait training and that healthy subjects conserve energy when ambulating with standard walkers in a comfortable gait velocity.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.104-110
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• 2008

The aim of this study ultimately is verifying that PGO gait is more efficient than RGO fur paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79$\pm$4%(RGO) to 68$\pm$8%. The energy consumption rate was 8.65$\pm$3.3 (ml/min/Kg) for RGO, while it decreased to 7.21t2.5(ml/min/Kg) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.6
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• pp.687-693
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• 2011

Spring-mass models have been widely accepted to explain the basic dynamics of human gait. Researchers found that the leg stiffness increased with gait speed to increase energy efficiency. However, the difference of leg stiffness change with gait speed between the young and the elderly has not been verified yet. In this study, we calculated the lower limb stiffness of the elderly using walking model with an axial spring. Vertical stiffness was defined as the ratio of the vertical force change to the vertical displacement change. Seven young and eight elderly subjects participated to the test. The subjects walked on a 12 meter long, 1 meter wide walkway at four different gait speeds, ranging from their self-selected speed to maximum speed randomly. Kinetic and kinematic data were collected using three force plates and motion capture cameras, respectively. The vertical stiffness of the two groups increased as a function of walking speed. Maximum walking speed of the elderly was slower than that of the young, yet the walking speed correlated well with the optimal stiffness that maximizes propulsion energy in both groups. The results may imply that human may use apparent limb stiffness to optimize energy based on spring-like leg mechanics.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.10
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• pp.1436-1443
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• 2013

A variety of studies on imitating the skeletal structure and the gait of legged animals have been done in order to develop walking robots which have an ability to adapt to atypical environments. In this paper, we analyzed the gait of a Bearded dragon lizard using the motion capture system, proposed a calibration scheme of the motion data and generated the trotting gait of a lizard based on the calibrated data. Also, we constructed the dynamic model based on the biometric data of a Bearded dragon lizard and applied the trotting gait of the lizard to the dynamic model. We verified the validity of the gait with the commercial dynamic simulation software.