• 대한기계학회논문집
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• 제14권6호
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• pp.1455-1463
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• 1990

In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제13권2호
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• pp.124-132
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• 2013

This study investigated the feasibility of gait recognition using points on the body in three-dimensional (3D) space based on comparisons of four different feature vectors. To obtain the point trajectories on the body in 3D, gait motion data were captured from 10 participants using a 3D motion capture system, and four shoes with different heel heights were used to study the effects of heel height on gait recognition. Finally, the recognition rates were compared using four methods and different heel heights.

• 대한물리치료과학회지
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• 제27권3호
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• pp.35-44
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• 2020

Background: This study was to confirm the effect and feasibility of knee extension assist orthosis (KEAO) on balance and gait in subacute stroke patients. Design: Case study. Methods: The subjects of the study were 4 subacute stroke patients, who had an onset period of less than 6 months. The limit of stability (LOS) and berg balance scale (BBS), timed up and go test (TUG) were used to verify the dynamic balance ability, static balance ability, and gait ability pre and post and after wearing the knee extension assist orthosis (KEAO). In addition, the satisfaction survey was to confirm the feasibility of the knee extension assist orthosis (KEAO) through the to Korean quebec user evaluation of satisfaction assistive technology 2.0 (K-QUEST 2.0). Results: After the wearing on KEAO, the distance for the limit of stability decreased by mean 541.25±240.46 mm2, and the score on the berg balance scale improved by mean 5±2.71 point, and the time for the timed up and go test deceased by mean 3.75±1.71 second. The stability and durability were found to be full score, and the control, ease, effectiveness were some high score, and the size, weight, comfort were some low score in the satisfaction and feasibility. Conclusion: The knee extension assist orthosis (KEAO) produce in this study was improved the static balance ability, dynamic balance ability and gait ability of subacute stroke patients, and the satisfaction and feasibility were high in the stability, durability and effectiveness of the user.

• Physical Therapy Rehabilitation Science
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• 제6권3호
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• pp.106-112
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• 2017

Objective: Robot assisted gait training is implemented as part of therapy for the recovery of gait patterns in recent clinical fields, and the scope of implications are continuously increasing. However clear therapy protocols of robot assisted gait training are insufficent. The purpose of this study was to investigate the effects of robot-assisted gait training applied with guidance force on balance and gait performance in persons with hemiparetic stroke. Design: Two group pre-test post-test design. Methods: Nineteen persons were diagnosed with hemiparesis following stroke participated in this study. The participants were randomly assigned to the unilateral guidance group or bilateral guidance group to conduct robot-assisted gait training. All participants underwent robot-assisted gait training for twelve sessions (30 min/d, 3 d/wk for 4 weeks). They were assessed with gait parameters (gait velocity, cadence, step length, stance phase, and swing phase) using Optogait. This study also measured the dynamic gait index (DGI), the Berg balance scale (BBS) score, and timed up and go (TUG). Results: After training, BBS scores were was significantly increased in the bilateral training group than in the unilateral guidance group (p<0.05). Spatiotemporal parameters were significantly changed in the bilateral training group (gait speed, swing phase ratio, and stance phase ratio) compared to the unilateral training group (p<0.05). Conclusions: The results of this study suggest that robot-assisted gait training show feasibility in facilitating improvements in balance and gait performance for subacute hemiparetic stroke patients.

• The Journal of Korean Physical Therapy
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• 제27권2호
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• pp.124-127
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• 2015

Purpose: The emphasis on gait rehabilitation after stroke depends on training support through the lower limbs, balance of body mass over the changing base of support. However, muscle weakness, lack of control of lower limb, and poor balance can interfere with training after stroke. For this case study report, a wearable robot orthosis was applied to stroke patients in order to verify its actual applicability on balance and gait ability in the clinical field. Methods: Two stroke patients participated in the training using the wearable robot orthosis. Wearable robot orthosis provides patient-initiated active assistance contraction during training. Training includes weight shift training, standing up and sitting down, ground walking, and stair up and down Training was applied a total of 20 times, five times a week for 4 weeks, for 30 minutes a day. Gait ability was determined by Stance phase symmetry profile, Swing phase symmetry profile, and velocity using the GAITRite system. Balance ability was measured using the Biodex balance system. Results: Subjects 1, 2 showed improved gait and balance ability with mean individual improvement of 72.4% for velocity, 19.4% for stance phase symmetry profile, 9.6% for swing phase symmetry profile, and 13.6% for balance ability. Conclusion: Training utilizing a wearable robot orthosis can be useful for improvement of the gait and balance ability of stroke patients.

• The Journal of Korean Physical Therapy
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• 제26권6호
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• pp.398-402
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• 2014

Purpose: This study was carried out in order to verify actual applicability of mental practice in the clinical field by applying it to Parkinson disease patients. Methods: : The number of subjects was three and they were aged between 65 and 69. One year or longer period has passed since they were diagnosed with Parkinson disease. The baseline A consisted of three sessions. After the baseline period, the researcher applied mental practice to the subjects once per day, for 20 minutes per each time, for 10 sessions. The no-intervention withdrawal phase was composed of three sessions. Outcome measures 10 meter walking test(10MWT), timed up and go (TUG) test, 8-figure walk test (8FWT). Results: All results indicated that 10 MWT, TUG, F8WT was improved when compared mental practice(B) to pre base line(A). base line(A) after mental practice intervention(B) was also sustained. Conclusion: As a result of the mental practice, we can know that it helps straight gait, dynamic balance, curved gait to improve.

• 재활복지공학회논문지
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• 제8권2호
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• pp.133-138
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• 2014

본 논문에서는 시공간 실루엣 분석을 사용하여 간단하지만 효율적인 보행 인식 방법을 제안한다. 각각의 이미지 시퀀스에 대해, 먼저 차분 기법과 화소기반 적응분할기법이 보행자의 실루엣을 분할하는데 사용된다. 그 후, 사람을 인식하기 위하여 보행하는 사람의 걸음수와 보폭이 실루엣 영상에서 구해진다. 124개의 객체를 포함하는 CASIA 데이터 집합에서의 실험결과는 제안된 방법의 유효성을 보여준다. 또한, 제안된 시스템은 보행자 인식에 대한 응용을 위해 충분한 적용 가능성이 있을 것으로 판단된다.

• Physical Therapy Rehabilitation Science
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• 제2권2호
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• pp.81-86
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• 2013

Objective: The objective of this study was to investigate the feasibility and effects of balance training using a newly developed elastic band orthosis (aider) for improvement of mobility and balance in chronic stroke patients. Design: Cross-sectional study. Methods: Ten patients with chronic hemiplegia participated in this study. There were six males and four females; two patients had right hemiplegia and eight had left hemiplegia. This study investigated the effect of the elastic band orthosis on balance and gait ability compared with bare foot condition. Gait parameters were measured using the opto-gait system for analysis of the spatial and temporal parameters of walking in stroke patients. In addition, balance ability in stroke patients was evaluated using the Timed Up and Go (TUG) and Berg Balance Scale (BBS). Results: This study investigated the effect of the elastic band orthosis on balance compared with bare foot condition. The TUG and BBS showed significant improvement with use of the elastic band orthosis (p<0.05). Use of the Elastic band orthosis resulted in significantly improved velocity, cadence, less-affected step length, less-affected stride length, and less-affected single limb support in stroke patients (p<0.05). Conclusions: We demonstrated a significant improvement in dynamic balance and gait ability in chronic stroke patients using the elastic band orthosis. This orthosis may aid in prevention of spastic foot drop, leading to improvement of walking ability.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1464-1468
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• 2004

This paper presents a learning controller for repetitive gait control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured according to the walking period through the iterative learning, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of learning control to biped robotic motion is shown via dynamic simulation with 12-DOF biped walking robot.

• PNF and Movement
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• 제16권1호
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• pp.67-73
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• 2018

Purpose: Smartphones, which are widely used worldwide to detect acceleration and position, have been used in the area of rehabilitation medicine in recent clinical research studies and tests. The aim of the present study was to determine the feasibility of using a smartphone application based on center of movement (COM) displacement to measure gait parameters in stroke patients in the clinical field of rehabilitation medicine. Methods: The study consisted of 30 stroke patients. The COM was measured using a smartphone application, Gait Analysis Pro, during a 6-m walk. Each patient performed three 6-m walking trials, and the smartphone application measured gait duration, gait speed, step length, cadence, and vertical and lateral displacement of the COM. The Kolmogorov-Smirnov test was conducted to determine the normality in gait parameters, and a repeated one-way analysis of variance (ANOVA) was performed to determine the consistency among the three trials. A p value of 0.05 was considered statistically significant in all the tests. Results: In all the measured parameters, the smartphone application showed a normal distribution, as shown by the results of the Kolmogorov-Smirnov test. There were no significant differences among the three repetitive walking trials. Conclusion: These results suggest that the smartphone application can be used for evaluating gait in stroke patients, as well as in healthy adults. However, prior to using the smartphone application in the clinical field, further research involving three-dimensional gait analysis is needed to enhance the confidence level of the findings.