• Journal of KIISE:Software and Applications
• /
• v.36 no.2
• /
• pp.131-143
• /
• 2009

Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG (Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

• Korean Journal of Applied Biomechanics
• /
• v.17 no.2
• /
• pp.1-9
• /
• 2007

Walking is not only an essential component of the human mobility, but also is a good exercise. Inability to walk freely can reduce an individual's quality of life and independence substantially. Being a relatively low impact activity, walking is particularly good for the elderly and research has shown that regular walking in the elderly reduces the chance of fall-related injuries and mental diseases as well. In spite of the documented benefits of regular walking, it is still difficult to walk without the aid of assistive devices for the frail elderly who have lower extremity problems. Assistive walking devices(AWD), such as crutches, canes, hiking-poles, T-Poles and walkers, are often prescribed to the elderly to make their walking be safe and efficient. Many researchers have demonstrated the effects of AWDs such as reducing lower extremity loading, improved dynamic/gait stability, yet, no study has been done for gait pattern when the elderly gait with AWDs. Therefore, the purpose of this study was to examine whether T-Poles, one of the AWDs, change the elderly gait pattern. Eight community-dwelling female elderly participated in this study. Laboratory kinematics during walking with T-Poles(PW) and with out T-Poles(NPW) was assessed. PW showed significant increase in step width, stride length, gait velocity and decrease in swing time. No significances were found in lower body joint angles but meaningful trend and pattern were found. Maybe the reason was due to the participants. Our participants were healthy enough so that the effect of T-Poles was minimum. PW also showed typical gait phases which are no single support phase during a gait cycle. It indicates that walking with T-Poles may guarantee safe and confident walking to the frail elderly.

• The Journal of Churna Manual Medicine for Spine and Nerves
• /
• v.15 no.1
• /
• pp.147-155
• /
• 2020

Objectives : The aim of this study was to analyze changes in the gait pattern of a unilateral knee pain patient after treatment with Korean Medicine therapy. Methods : We conducted gait analysis 4 times over 11 days to analyze changes in gait parameters using gait analysis systems. Results : Velocity, cadence, step length, and stride length were all increased. On the collateral side, both stance phase and double support (%) decreased. These results are similar to those of hemiplegic patients with improvement patterns. Conclusions : Gait analysis could be used as a good evaluation tool for tracking improvements in knee pain.

• The Journal of Internal Korean Medicine
• /
• v.37 no.6
• /
• pp.990-997
• /
• 2016

Objectives: This study observed changes in gait pattern according to the motor grade of the paretic lower limb in patients with basal ganglia stroke who are in the subacute phase. Methods: We used the Manual Muscle Test (MMT) to evaluate the motor grade of the paretic lower limb of 21 patients with subacute basal ganglia stroke and then divided them into two groups based on the MMT results. Stroke patients with a motor grade above Gr. III were put in group I (15 people) and those with a grade less than Gr. III in group II (6 people). We also estimated spatiotemporal factors using treadmill gait analysis equipment. The values were gait velocity, step length, step time, double support phase, and cadence. The first measure was conducted during the early period of admission and the second was between four and five weeks after admission. Results: In Group I, the gait velocity and step length of both legs significantly increased. In Group II, the step length and step time of the paretic side and the gait velocity tended to decrease, but not significantly. The step length of the paretic side in Group II was significantly longer than that in Group I at the first measure. The step time of the paretic side in Group I was significantly shorter than that in Group II and gait velocity and cadence in Group I were significantly higher than in Group II at the second measure. Conclusions: The gait parameters of all stroke patients improved in terms of time. In addition, the changes in gait pattern were different depending on the motor grade of the paretic lower limb.

• Korean Journal of Applied Biomechanics
• /
• v.24 no.3
• /
• pp.239-248
• /
• 2014

The purpose of this study was to quantify kinematic and kinetic characteristics of Yin-yang Bo gait according to their motor expertise, one of the Seokmun Ilwol martial art gait patterns. Yin-yang Bo gait pattern shows initial forefoot contact instead of heel contact, and increased time of stance phase time, internal-external rotation of ankle-knee-hip joints and pelvic. It aims to produce and store the more energy through continuous homeostasis of center of gravity (COG) and performance of stretch-shortening cycle. Some of these characteristics also were similar to the gait modification strategies for reducing knee adduction moment such as toe-out progression, medial thrust, internal rotation of hip joint. To identify the characteristics, four factors of expert Yin-yang Bo gait performance group were compared to that of none expert group; 1) angles of COG displacement and rotation 2) distal joint pre-rotation in internal-external rotation of ankle-knee-hip joints and pelvic, 3) invariability pelvic potential and pelvic segment total energy 4) knee abduction moment. Six healthy(three male) subjects participated in the experiment to perform Yin-yang gait pattern. Three-dimensional and force plate data were collected. Kinematic and kinetic data were compared between two groups using t-tests. Results showed that 1) the peak point of COG internal rotation angle was reduced in expert group, 2) kneeexternal and hip joint -internal and pelvic rotation angle peak frames were more near points in expert group.

• PNF and Movement
• /
• v.18 no.1
• /
• pp.55-64
• /
• 2020

Purpose: The purpose of this study was to compare the strength and walking ability of chronic stroke patients following either proprioceptive neuromuscular facilitation (PNF) pattern training with pressure biofeedback units (feedback group) or PNF pattern training without pressure biofeedback units (control group). Methods: Eighteen participants with chronic stroke were recruited from a rehabilitation hospital. They were divided into two groups: a feedback group (n = 8) and a control group (n = 10). They all received 30 minutes of neurodevelopmental therapy and PNF training for 15 minutes five times a week for three weeks. Muscle strength and spatiotemporal gait parameters were measured. Muscle strength was measured by hand-held dynamometer; gait parameters were measured by the Biodex Gait trainer treadmill system. Results: After the training periods, the feedback group showed a significant improvement in hip abductor muscle strength, hip extensor muscle strength, step length of the unaffected limb, and step time of the affected limb (p<0.05). Conclusion: The results of this study showed that proprioceptive neuromuscular facilitation pattern training with pressure biofeedback units was more effective in improving hip muscle strength and walking ability than the proprioceptive neuromuscular facilitation pattern training without pressure biofeedback units. Therefore, to strengthen hip muscles and improve the walking ability of stroke patients, using pressure biofeedback units to improve trunk stability should be considered.

• The Journal of the Society of Stroke on Korean Medicine
• /
• v.14 no.1
• /
• pp.8-14
• /
• 2013

■ Objectives The goal of this study is to find the correlation between the motor function and gait pattern of stroke patients. ■ Methods We measured Manual muscle test(MMT), Motricity index(MI) and Spatiotemporal gait parameters of admitted hemiplegic patients with stroke. The gait parameters were measured using a Treadmill gait system. ■ Results There is a significant correlation between motor function and spatiotemporal parameters such as step length, stride length, step time, stride time, total double support or cadence, in stroke patients. ■ Conclusion The better motor function of stroke was, the more gait improved.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.13 no.1
• /
• pp.199-206
• /
• 2018

This study was to investigate the Influence of smart phone use on gait in healthy adults. Twenty healthy adults were recruited in this study. All subjects performed twice for each normal gait and smart phone gait. The normal gait walked at their chosen speed, and the smart phone gait walked while watching the video. GAITRite system was used to identify the temporal and spatial variables related to the gait pattern during walking. Statistical analysis was analyzed by paired t-test. In comparison of temporal variables, smart phone gait was significantly lower in gait speed and cadence than in normal gait(p<.05), and was significantly longer in single support time and double support time(p<.05). In comparison of spatial variables, smart phone gait was significantly shorter in step length and stride length than in normal gait(p<.05) and significantly longer in step width(p<.05). The results of this study demonstrated that smartphone use can negatively affect the correct gait patterns during walking.

• Korean Journal of Applied Biomechanics
• /
• v.23 no.2
• /
• pp.159-167
• /
• 2013

The purpose of this study was to evaluate the gender differences on gait pattern and the kinetics on lower extremities according to the different gait speed. Ten collegiate male students (age : $23.80{\pm}2.94$ yrs, height : $179.40{\pm}5.04$ cm, weight : $66.57{\pm}5.64$ kg) and ten female students (age : $23.40{\pm}2.91$ yrs, height : $166.06{\pm}5.61$ cm, weight : $53.76{\pm}2.75$ kg) participated in this study. To investigate the role, the ratio of the use, and the effectiveness of each joint during gait, we examined the joint work and the contribution to total work. The results of this study were as follows: First, gait pattern was not differ between male and female, hip joint ROM increased with the increase of gait speed both male and female. Second, the eccentric work of the ankle joint decreased with the increase of the gait speed both male and female, on the other hand increased on the knee joint. Third, in the result of the contribution to total eccentric work, male in both the two gait speed was the biggest on the hips joint. However, female in normal gait speed was the greatest on the ankle joint, was the most on the knee joint in the fast gait speed. Forth, the concentric work on the ankle and hip joint increased with the increase of gait speed both male and female. Fifth, in the result of the contribution to total concentric work, there is no difference in the male both the two gait speed, however decreased in the female on the knee joint with the increase of the gait speed, on the other hand increased on the ankle joint.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.12
• /
• pp.1810-1814
• /
• 2017

This paper develops an approach to the algorithm of Gait pattern Analysis and step measurement with Multi-Pressure Sensors. The process of gait consists of 8 steps including stance and swing phase. As 3 parts of foot is supporting most of human weight, multiple pressure sensors are attached on the parts of foot: forefoot, big toe, heel. As 3 parts of foot is supporting most of human weight, multiple pressure sensors are attached on the parts of foot: forefoot, big toe, heel. normal gait proceed from heel, forefoot and big toe over time. While normal gait proceeds, values of heel, forefoot and big toe can be changed over time. So Each values of pressure sensors over time could discriminate whether it is normal or abnormal gait. Measuring Device consists of non-inverting amplifiers and low pass filter. Through timetable of values, normal gait pattern can be analyzed, because of supported weight of foot. Also, the peak value of pressure can judge whether it is walking or running. While people are running, insole of shoes is floating in the air on moment. Using this algorithm, gait analysis and step count can be measured.