• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.148-155
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.1
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• pp.100-108
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, galt trajectories of the biped robot on the sagittal Plane are not enough to construct the complete gait pattern because the bided robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.9
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• pp.1407-1412
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• 2013

The human gait pattern analysis shoes have been developed for our healthy lfe, which is largely dependent on a posture and a skeletal structure affected by daily lifestyle and gait pattern. There are generally 3 types of human gait, such as normal gait, intoeing gait, and outtoeing gait. We have analyzed one's gait pattern through walking put on the developed shoes.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.3
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• pp.285-291
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• 2014

PURPOSE: The purpose of this study was to propose clinical criteria to differentiate patients who are able to perform the step-through-step gait pattern in chronic stroke patients. METHODS: Sixty patients with chronic stroke patients participated this study. To differentiate patients who could perform the step-through-step gait pattern, age, gender, and causes of stroke were noted, a Chedoke-McMaster (CM) damage list, Fugl-Meyer (FM) assessment scales and the Berg Balance Scale (BBS) were determined. A 10 meter gait test and Timed Up and Go (TUG) test were conducted to determine the differences in gait speed and dynamic balance between patients walking with or without canes in the step-through-step gait pattern group. RESULTS: There was no significant statistical difference in age, gender, and stroke type between all subjects. There were significant differences in the CM scale for postural and lower extremities, and FM scale for lower extremities and BBS. The dynamic balance ability and gait speed showed significant differences between the subjects in the step-through-step gait pattern with or without a cane during gait. CONCLUSION: CM and FM scales for the lower extremities and postural control, as well as BBS scales, can be used as criteria to differentiate patients who are able to perform the step-through-step gait pattern. These results can also be used to provide beneficial information to patients that are walking with canes.

• PNF and Movement
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• v.5 no.1
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• pp.37-47
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• 2007

Objective : A large proportion of stroke survivors have to deal with problems in gait. Proper evaluation of gait must be undertaken to understand the sensorimotor impairment underlying locomotor disorders post stroke. Methods : The characteristics of gait pattern with post stroke are reviewed in this paper. In particular, temporal distance parameters, kimematics, kinetics, as well as energy cost, EMG are focused. Results : The technology for gait analysis is moving rapidly. The techniques of 3D kinematic and kinetic analysis can provide a detailed biomechanical description of normal and pathological gait. This article reviews gait analysis method and characteristics of post stroke. Finally current method of gait analysis can provide further insight to understand paretic gait and therapeutic direction.

• Journal of Biomedical Engineering Research
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• v.35 no.6
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• pp.227-233
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• 2014

In this paper, to quantitatively evaluate the degree of rehabilitation for the disabled of unilateral lower extremity, we compared the EMG pattern of normal and simulated abnormal gait. The EMG signal was measured at a rate of 1 kHz on the quadriceps and biceps femoris, the pressure sensor was attached to the sole in order to distinguish the gait cycle. Integrated EMG (IEMG) was obtained by the gait cycle, and classified four patterns that were the normal gait pattern, amplitude decrease pattern, reversed pattern, and irregular pattern. For comparison of the patterns, a curve fitting was performed using the trigonometric functions. The result of curve fitting, the method using a variable A that corresponds to the amplitude of the regression curve was able to distinguish the reverse pattern and remaining pattern. The coefficient of determination ($R^2$) representing coincidence of the pattern of the regression curve and EMG was confirmed the biggest value at the normal gait. Therefore, the degree of normal gait can be confirmed using the coefficient of determination. This results show that it is possible to quantitatively confirm the degree of unilateral lower extremity disabled rehabilitation, and it will be contributed to the study of efficient rehabilitation methods by objective analysis.

• Journal of International Academy of Physical Therapy Research
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• v.11 no.2
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• pp.2028-2035
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• 2020

Background: Weakness of the trunk muscles decreases the trunk control ability of stroke patients, which is significantly related to balance and gait. Objectives: To compare the impact of diagonal pattern self-exercise on an unstable surface and a stable surface for trunk rehabilitation on trunk control, balance, and gait ability in stroke patients. Design: Nonequivalent control group design. Methods: Twenty four participants were randomized into the experimental group (diagonal pattern self-exercise while sitting on an unstable surface, n=12) and the control group (diagonal pattern self-exercise while sitting on a stable surface, n=12). All interventions were conducted for 30 minutes, three times a week for four weeks, and the trunk impairment scale (TIS), berg balance scale (BBS), functional gait assessment (FGA), and G-walk were measured. Results: All groups indicated significant increases in all variables (TIS, BBS, FGA, cadence, speed, stride length) after four weeks. The TIS, BBS, FGA, cadence, gait speed, and stride length group-by-time were significantly different between the two groups. Conclusion: We found that, in stroke patients, diagonal pattern self-exercise on an unstable surface is a more effective method for improving trunk control, balance, and gait ability than diagonal pattern self-exercise on a stable surface.

• The Journal of Korean Physical Therapy
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• v.31 no.4
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• pp.236-241
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• 2019

Purpose: This study examined the effects of aquatic proprioceptive neuromuscular facilitation pattern exercise on the balance, gait ability, and depression in patients with chronic stroke. Methods: Thirty patients with chronic stroke were assigned randomly to an experimental (n=15) or control (n=15) group. The experimental group performed aquatic proprioceptive neuromuscular facilitation pattern exercise. The control group performed ground proprioceptive neuromuscular facilitation pattern exercise. Training was conducted once a day for 30 minutes, five days per week for six weeks. The balance ability was measured using the Berg balance scale. The gait ability was measured using the 10 Meter walk test. Depression was measured using the Beck depression inventory. Results: As a result of a comparison within groups, the experimental and control group showed a significant difference for balance, gait ability, and depression after the experiment (p<0.05). In a comparison between the two groups, the experimental group, in which aquatic proprioceptive neuromuscular facilitation pattern exercise was applied, showed more significant changes in balance, gait ability, and depression than the control group (p<0.05). Conclusion: Based on these results, aquatic proprioceptive neuromuscular facilitation pattern exercise effectively improved the balance, gait ability and depression in patients with chronic stroke.

• The Journal of Korean Physical Therapy
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• v.11 no.1
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• pp.95-102
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• 1999

In hemiplegic gait, walking speed is an important factor to evaluate treatment effect. The purpose of this study was to describe and compare kinematic variables during differant speed hemiplegic gaits. Six hemiplegic patients(47-69 years old) after stroke and age - matched six volunteers in good health(51-61 years old) were studied. The patients were sorted into two groups, depending on their self - speed of walking : fast speed group(3 patients, $0.74\pm0.14m/s$) and slow speed group(3 patients, $0.29\pm0.09m/s)$. The results were following. 1. In the hip joint, the fast group had lower mean value than normal but had similar pattern to normal. The slow group had continuous flexed pattern. 2. In the knee joint, the fast group had similar mean value and pattern to normal. The slow group had continuous flexed pattern. 3. In the ankle joint, the two group had dorsiflexed pattern. The fast group had similar pattern to normal. Thus, the fast group was similar gait pattern to normal.

• The Journal of the Society of Stroke on Korean Medicine
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• v.14 no.1
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• pp.31-39
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• 2013

■ Objectives The goal of this pilot study is to observe the change of gait pattern according to the clinical status in a patient with ataxic gait by cerebellar infarction. ■ Methods We measured the spatiotemporal gait parameters of a patient with ataxic gait four times, in which, first, the patient was not able to walk independently, second, able to walk independently, third, unable to walk independently by general tremor, and, last, able to walk independently after disappearing of general tremor. ■ Results When a patient with cerebellar ataxic gait was able to walk independently and the cerebellar tremor was disappeared, the change of gait pattern was that step and stride length decreased and total double support and stance phase increased. ■ Conclusion When different clinical characteristics were improved, the change of gait showed same pattern.