• 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.

• Journal of Biomedical Engineering Research
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• v.22 no.6
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• pp.543-550
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• 2001

In this study, ground reaction force(GRF) and energy consumption of fixed. single-axis and multi-axis Prosthetic ankle assemblies were investigated to show the biomechanical evaluation for trans-tibial amputees. In the experiments. two male and two female trans-tibial amputees were tested with fixed, sin91e-axis and multi-axis Prosthetic ankle assembly. A three-dimensional gait analysis was carried out to derive the ratio of GRF to weight as the percentage of total stance Phase for nine Points Energy consumption of each Prosthetic ankle assembly was measured while subjects walked at 2km/h. 3km/h and the most comfortable walking speed on the treadmill The results showed that multi-axis ankle was superior to the other two ankle assemblies for the characteristic of forwarding and breaking forces. Fixed ankle was relatively superior to the other two ankle assemblies for gait balancing and movement of the center fur mass Compared to the other ankle assembly. sing1e-axis type showed lower energy consumption over 2.3km/h walking speed .

• Transactions of the KSME C: Technology and Education
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• v.1 no.2
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• pp.153-165
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• 2013

The established gait analysis studies have regarded leg as one single spring. If we can design a knee-ankle actuating mechanism as a primary actuator for supporting knee extension, it might be possible to revolutionary store or release elastic strain energy, which is consumed during the gait cycle, and as a result leg stiffness is expected to increase. An ankle joint actuating mechanism that stores and releases the energy in ankle joint is expected to support and solve excessive artificial leg stiffness caused by the knee actuator (primary actuator) to a reasonable extent. If unnecessary kinematic energy is released with the artificial speed reduction control designed to prevent increase in gait speed caused by increase in time passed, it naturally brings question to the effectiveness of the actuator. As opposed to the already established studies, the authors are currently developing knee-ankle two actuator system under the concept of increasing lower limb stiffness by controlling the speed of gait in relative angular velocity of the two segments. Therefore, the author is convinced that compensatory mechanism caused by knee actuating must exist only in ankle joint. Ankle joint compensatory mechanism can be solved by reverse-examining the change in metatarso-phalangeal joint (MTPJ) tilt angle (${\theta}_1=0^{\circ}$, ${\theta}_2=17^{\circ}$, ${\theta}_3=30^{\circ}$) and the effect of change in gait speed on knee activity.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.4 no.1
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• pp.23-28
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• 2010

Case of patients with weakness in cardiopulmonary system, other ambulatory function is normal, but oxygen supply function is problem. So they need reduce energy consumption for gait by assistance system. In this study, we designed and developed walking assistant device which helps flexion and extension of hip joint for cardiopulmonary patients. There are two motors, each at the left and right side of pelvis, providing torque to the hip joint. The target angle of the flexion and extension in the hip joint is set according to the normal gait. As a result, reduction of energy consumption was 14.8% by gait assistive device.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.95-96
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1391-1392
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• 2011

• Journal of the Korean Society of Physical Medicine
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• v.19 no.1
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• pp.69-79
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• 2024

PURPOSE: This study compared the effect of the muscle energy technique (MET) and stretching technique on ankle dorsiflexion passive range of motion, balance, and gait ability of stroke patients with limited ankle dorsiflexion. METHODS: Forty-four post-stroke patients participated. The participants were randomized into the MET group (METG; n = 22) and the stretching group (STG; n = 22). The METG was subjected to the MET to relax the dorsiflexion, while the STG was subjected to the dorsiflexion stretching technique. Both groups completed standard neurological physical therapy for 30 min per session. The intervention was conducted five times a week over 3 weeks for a total of 15 times. All participants underwent ankle dorsiflexion passive range of motion measurement and Berg Balance Scale score determination and completed a 10-m walking test and the timed up and go test before and after the intervention. RESULTS: After the 3-week intervention, both groups showed significant improvement after the intervention (p < .05). METG participants showed greater improvements in ankle dorsiflexion passive range of motion and 10-m walking test results compared to STG participants (p < .05). CONCLUSION: Both interventions improved ankle dorsiflexion passive range of motion, balance, and gait ability in stroke patients with limited ankle dorsiflexion. Moreover, the MET was superior to ankle dorsiflexion passive range of motion on the 10-m walking test.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.9
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• pp.3952-3958
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• 2011

This study was to investigate the difference in gait pattern between the visual handicap children and non handicap children in by analyze the biomechanical variation and pattern of lower limb. Therefore, we have made a choice of four visually handicapped children and two subjects, who had no medical disorder for the last six months. In order to collect the gait pattern data of each group, we have used six infrared cameras and one forceplate Also, we have used QTM program to collect the raw data and Visual3D program to calculate kinetic variable. The results were as follows, An/Posterior GRF of breaking phase and propulsion phase in stance phase was lower in visual handicapped children than that of non handicapped children and breaking phase was longer than propulsion phase. extension moment at the ankle was quite lower than general gait pattern and there was little variation at the knee joint which makes the results differ from the general gait pattern. However, hip joint moment was relatively higher than that of other joints. Mechanical variation of lower limb, in case of foot and shank, showed similar results. but generated very low mechanical energy. In thigh, the form of mechanical energy generation was slightly different in each group but generated more mechanical energy than other segments.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.1 s.190
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• pp.85-92
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• 2007

In the present study, three-dimensional motion analyses were performed to determine biomechanics of the lower extremity in unexpected missing foot steps for ten healthy young volunteers. In unexpected missing foot steps, the whole plantar surface of the foot or the heel contacted to the ground. A rapid ankle dorsiflexion was found right after missing foot steps and an increased plantarflexion moment was noted during loading response. After the unexpected situation, the breaking force increased rapidly. At this time, both tibialis anterior and soleus were simultaneously activated. Moreover, the range of motion at ankle, knee and hip significantly decreased during stance. In pre-swing, rectus femoris and biceps femoris prevented the collapse of the lower limbs. During late stance, propulsive forces decreased and thus, both plantarflexion moment and power generation were significantly reduced. On the opposite side, hip extension and pelvic upward motion during terminal swing were significant. Due to the shortened pre-swing, the energy generation at the ankle to push sufficiently off the ground was greatly reduced. This preliminary study would be helpful to understand the biomechanics of unexpected dynamic perturbations and valuable to prevent frequent falling of the elderly and patients with gait disorders.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.