• The Journal of Korean Physical Therapy
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• 제14권4호
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• pp.131-146
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• 2002

In the last years, it has become possible to regain some locomotor activity in patients with incomplete spinal cord injury (SCI) through intense training on a treadmill. The ideas behind this approach owe much to insights derived from animal studies. Many studies showed that cats with complete spinal cord transection(spinalized animals) can recover locomotor function. These observations were at the basis of the concept of the central pattern generator located at spinal level. The neural system responsible for the locomotor restoration in both cats and humans is thought to be located at spinal level and is referred to as the central pattern generator(CPG). The evidence for such a spinal CPG in human is emphasis on some recent developments which support the view that there is a human spinal CPG for locomotion. An important element in afferent inputs for both spinal injured cats and humans is the provision of adequate sensory input related locomotor, which can possibly activate and/or regulate the spinal locomotor circuitry This review article deals with the afferent control of the central pattern generator. Furthermore, the application of adequate afferent inputs related locomotor for stroke patients will be able to facilitate locomotion ability, which is automatic, cyclic, rhythmic. These insights can possibly contribute to a better therapeutic approach for the rehabilitation of gait in patients with stroke.

• 재활복지공학회논문지
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• 제7권2호
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• pp.19-26
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• 2013

본 논문에서는 다수의 특징 값 중에서 적합한 특징 및 채널을 선택하는 sEMG 신호기반 보행단계 인식기법을 제안한다. 제안하는 방법은 sEMG 신호 기반 분류기를 이용하여 하지 절단 환자의 동력의족을 제어하며, 적응적으로 특징 및 채널들을 선택하여 임베디드 시스템의 신호처리과정에서 발생하는 오버헤드를 감소시킨다. 또한 피험자의 보행 습관에 따라 근육 발달도가 다르다는 특성을 이용하여 피험자의 보행단계에 따라 사용 빈도가 높은 근육과 특징 추출 알고리즘을 선택함으로서 정확도를 향상시킨다. 실험 결과 피험자마다 인식율이 높은 근육이 다르다는 것을 발견하였다. 또한 모든 특징들과 채널들을 이용하는 기존 방법의 경우 50%의 평균정확도를 보인 반면에 제안한 방법은 91%의 평균정확도를 보였다. 따라서 소수의 발달된 근육과 이에 맞는 특징을 사용한 sEMG기반 보행단계인식 방법이 하지절단환자의 동력의족을 제어하는 데 적용될 수 있음을 확인하였다.

• 한국운동역학회지
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• 제14권3호
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• pp.83-98
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• 2004

The purpose of this study was to investigate the test-retest of plantar pressures using the F-Scan system over speeds and plantar regions. 6 healthy female subjects in 20's were recruited for the study. Plantar pressure measurements during locomotor activities can provide information concerning foot function, particularly if the timing and magnitude of the loading profile can be related to the location of specific foot structures such as the metatarsal heads. The Tekscan F-Scan system consists of a flexible, 0.18mm thick sole-shape having 1260 pressure sensors, the sensor insole was trimmed to fit the subjects' right. left shoes - sneakers shoes & dress shoes. It was calibrated by the known weight of the test subject standing on one foot. The Tekscan measurements show the insole pressure distribution as a function of the time. This finding has important implications for the development of plantar pressure test protocols where the function of the forefoot is important. According to the result of analysis it is as follows 1) Center of force trajectory in women's dress shoes display direct movement, compare with center of force trajectory in Sneaker shoes displays a little bit curved slow pronation movement. Sneaker shoes in forefoot part display very quick supination movement, therefore, this shoes effects negative effectiveness for ankle's stability Considering center of force trajectory analyzing the more center of force close straight line, the more movement can be quick movement for locomotion. For foot pressure distribution, center of force trajectory in locomotion is better to curved trajectory with pronation movement. So sneaker shoes style is good shoes considering center of pressure distribution trajectory compare with women's dress shoes. 2) Women's dress shoes increased peak pressure in medial, this is effected by high hill's height. The more increased women's dress shoes's height, the more women's peak pressure will increase, pronation can increase compare with before. Supination movement increase, this focused pressure in lateral, also, supination increased more. If the supination movement increased, foot pressure focused in lateral, therefore, it is appeared force distribution in gait direction. This is bad movement in foot's stability. 3) Women's dress shoes in landing phase displayed a long time, this is when women's dress shoes wear, gait movement is unbalance, so, landing phase displayed a long time. For compensation in gait, swing phase quick movement. 4) Women's dress shoes displayed peak pressure distribution in lateral of rearfoot part, Sneakers shoes displayed peak pressure distribution in medial of forefoot part. Its results has good impact absorption compare with women's dress shoes. In forefoot part, sneakers shoes has good propulsive force compare with women's dress shoes.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2493-2503
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• 2018

Passive dynamic walking exhibits humanoid and energy efficient gaits. However, optimal design of passive walker at multi-variable level is not well studied yet. This paper presents a Chaotic Particle Swarm Optimization (CPSO) algorithm and applies it to the optimal design of flexible passive walker. Hip torsional stiffness and damping were incorporated into flexible biped walker, to imitate passive elastic mechanisms utilized in human locomotion. Hybrid dynamics were developed to model passive walking, and period-one gait was gained. The parameters global searching scopes were gained after investigating the influences of structural parameters on passive gait. CPSO were utilized to optimize the flexible passive walker. To improve the performance of PSO, multi-scroll Jerk chaotic system was used to generate pseudorandom sequences, and chaotic disturbance would be triggered if the swarm is trapped into local optimum. The effectiveness of CPSO is verified by comparisons with standard PSO and two typical chaotic PSO methods. Numerical simulations show that better fitness value of optimal design could be gained by CPSO presented. The proposed CPSO would be useful to design biped robot prototype.

• Physical Therapy Rehabilitation Science
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• 제7권2호
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• pp.83-87
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• 2018

Objective: The purpose of this study was to investigate the relationship between heart rate (HR), self-awareness of exercise intensity (rating of perceived exertion, RPE), and 5-meter walk test (5MWT) of persons affected by stroke during backward walking according to the preferred stride frequency (PSF), PSF+3 and PSF+6 conditions. Design: Cross-sectional study. Methods: A total of 11 persons with stroke (9 males, 2 females) participated voluntarily. All patients underwent backward walking under the PSF, PSF+3, and PSF+6 conditions in underwater and ground environments, and each condition was performed for 5 minutes. The HR, RPE, and walking speeds were measured during walking, and the measured values from underwater and ground environments were compared. Results: The HR and RPE in the ground environment were significantly increased (p<0.05), and although the 5MWT showed an increase in speed, it was not significant. The HR and RPE in the underwater environment were also significantly increased (p<0.05), however, although the 5MWT results was increased, it was not significant. The HR and RPE were significantly increased in the PSF+6 condition (p<0.05). Conclusions: The results of this study showed that backward gait training underwater can provide an appropriate exercise intensity for stroke survivors and suggests that exercises performed in an underwater environment is more effective compared to the ground environment.

• 한국운동역학회지
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• 제17권4호
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• pp.99-106
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• 2007

The gait instability in the elderly has been associated with age-related deterioration in physical strength and reducing the potential for elderly falls requires regular exercise. In 2005, National Center for Injury Prevention and Control(NCIPC) reported that most elderly falls occur during activities in daily living(ADL). To better reveal biomechanic mechanisms underlying age-related degeneration in gait stability, and to enhance the assessment of falls risk, an accurate quantification of a person's balance maintenance during locomotion is needed. Instantaneous orientation of the line connecting COP and COM can characterize whole body position with respect to the supporting foot during gait and the angle between this line and the vertical line passing through the COP known as a good assessment to detect the elderly gait instability. Therefore the purpose of this study was to investigate a 6-month walking exercise effects in reducing elderly fall risk factors by using COP-COM inclination angles. Twenty-two community-dwelling elderly participated this study. The participants performed a walking exercise(3 times/week, 1 hour/visit) for 6 months. Laboratory kinematics during walking was assessed at months 0, 3 and 6. Significant increased in gait velocity was found among periods(p=.011, $1.25{\pm}.03$, $1.32{\pm}.03$, and $1.39{\pm}.04\;m/s$ in 0-, 3-, and 6-month, respectively). Also, significant differences in anterior and posteriror inclination angles were found among the periods(p<.05; posterior inclination angles: $12.8{\pm}2.2$, $11.0{\pm}2.9$, & $10.9{\pm}1.9$; anterior inclination angles: $13.7{\pm}1.7$, $14.6{\pm}3.2$, & $1.46{\pm}.21$ in 0month, 3month, & 6month, respectively). These findings provide evidence of significant reduced fall risk factors of community-living older adults associated with a systematic walking program.

• 한국지능시스템학회논문지
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• 제19권6호
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• pp.749-754
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• 2009

4족 보행로봇의 빠른 걸음새를 자동으로 생성하는 문제에 대해서 GP(Genetic Programming)와 CPG(Central Pattern Generator) 기반의 두 가지 방식을 비교한다. GP(Genetic Programming)를 이용한 관절좌표계 상에서의 걸음새 생성 기법은 발끝의 자취와 수 많은 자세 파라미터를 사용하는 대신에 적은수의 관절 궤적을 생성하므로 효율적이다. CPG는 뇌로부터의 입력을 받아서 진동적인 출력을 생성하는 신경회로로 고등생물의 걸음 원리를 수학적으로 모델링한 것이다. 바이올로이드로 구성된 4족 보행로봇에 대하여 Webots기반의 ODE 시뮬레이션을 통해 접근 기법들에 대한 최적화를 수행하고 결과를 비교 분석한다. 그리고, 구해진 시뮬레이션과 결과를 실제 로봇에 대해서 각 동작을 실행시켜 보면서 CPG와 GP 기반의 걸음새 방식의 실제적인 성능 및 특성을 고찰한다.

• Journal of Electrical Engineering and Technology
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• 제10권6호
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• pp.2368-2375
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• 2015

To accommodate various navigational commands, a humanoid should be able to change its walking motion in real time. Using the modifiable walking pattern generation (MWPG) algorithm, a humanoid can handle dynamic walking commands by changing its walking period, step length, and direction independently. If the humanoid is given a command to perform an infeasible movement, the algorithm substitutes the infeasible command with a feasible one using binary search. The feasible navigational command is subsequently translated into the desired center-of-mass (CM) state. Every sample time CM reference is generated using a zero-moment-point (ZMP) variation scheme. Based on this algorithm, various complex walking patterns can be generated, including backward and sideways walking, without detailed consideration of the feasibility of the navigational commands. In a previous study, the effectiveness of the MWPG algorithm was verified by dynamic simulation. This paper presents experimental results obtained using the small-sized humanoid robot platform DARwIn-OP.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.786-791
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• 2007

Statistical differences between men and women are investigated for a total of eleven joint motions during level walking. Human locomotion which exhibits nonlinear dynamical behaviors is quantified by the chaos analysis. Time series of joint motions was obtained from gait experiments with ten young males and ten young females. Body motions were captured using eight video cameras, and the corresponding angular displacements of the neck and the upper body and lower extremity were computed by motion analysis software. The maximal Lyapunov exponents for eleven joints were calculated from attractors constructed and then were analyzed statistically by one-way ANOVA test to find any difference between the genders. This study shows that sexual differences in joint motions were statistically significant at the shoulder, knee and hip joints.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.