• 대한물리의학회지
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• 제14권1호
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• pp.139-150
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• 2019

PURPOSE: This study was conducted to determine the effects of treadmill gait training with obstacle-crossing on the static and dynamic balance ability of patients with post stroke hemiplegia. METHODS: Twenty-one patients with post stroke hemiplegia were divided into three groups as: treadmill gait training with obstacle-crossing (TOG, n=7), treadmill gait training without obstacle-crossing (TGG, n=7) and a control (CON, n=7). TOG and TGG performed exercise for 20 minutes, three times a week for 8 weeks. Static balance ability (stability typical, ST; weight distribution index, WDI; fourier harmony index, FHI; and fall index, FI) and dynamic balance ability (berg balance scale, BBS and timed up and go test, TUG) were measured before and after 8 -weeks in each exercise group. Statistical analyses were conducted using two-way ANOVA with repeated measures, a paired t-test, and multiple comparisons according to Tukey's HSD. RESULTS: FHI and BBS were significantly increased at TOG (p<.01) and TGG (p<.05) after 8-weeks compared to before treadmill gait training with obstacle-crossing. FHI and BBS were significantly increased at TOG compared with CON and TGG (p<.05). CONCLUSION: Treadmill gait training with obstacle-crossing was more effective than that without obstacle-crossing to improve posture control and independent daily life performance of hemiplegia patients.

• 대한통합의학회지
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• 제9권4호
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• pp.211-223
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• 2021

Purpose : The purpose of this study was to examine the effect of task-oriented circuit training using unstable support surface on balance, gait ability, and balance confidence in subacute stroke patients. Methods : Forty-five patients with subacute stroke were randomly divided into the three following groups of 15: 1) TOCT-US group; task-oriented circuit training using unstable surface (experimental group 1), 2) TOCT-SS group; task-oriented circuit training using stable surface (experimental group 2), and 3) CON group; conventional physical therapy (control group). All patients participated in one of the three training programs for 6 weeks, 30 minutes per session, 3 times per week. Patients' balance ability was assessed using the BT-4, BBS (berg balance scale), TUG (time up and go test), and LOS (limit of stability). Gait speed was measured to examine gait ability. K-ABC (activities-specific balance confidence scale) was also used to assess the level of patients' confidence in daily activities. Results : After the intervention, the sway area in experimental groups 1 and 2 decreased, but that in the control group increased. Experimental group 1 showed significant improvement compared with experimental group 2 and the control group. BBS, TUG, and LOS scores of experimental group 1 were significantly improved compared with those of experimental group 2 and the control group. Also, gait speed significantly improved in experimental group 1 compared with experimental group 2 and the control group. Experimental groups 1 and 2 showed significant improvement in K-ABC scores after training. Conclusion : Patients with subacute stroke had significantly improved balance, gait, and level of confidence in performing activities of daily living following task-oriented circuit training using the unstable surface. This indicates that task-oriented circuit training using unstable surfaces can be an effective treatment method for the recovery of balance and gait in subacute stroke patients.

• PNF and Movement
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• 제9권2호
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• pp.45-53
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• 2011

Purpose : Many researchers have attempted to identity the reliability used in clinical examination of balance and gait performance for individuals of hemiparetic stroke. The study aims to evaluate whether the reliabilities of three popular clinical measures of balance and gait performance was consistency regardless of applicate experience of those clinical measures compared with previous studies for persons with hemiparetic stroke. Methods : A total of three hemiparetic stroke populations and twenty-six physical therapists were recruited from Glory hospital, Inchen, Korea in this study. The three clinical measures, involving Berg balance test (BBT), dynamic gait index (DGI), and Tinetti performance-oriented mobility assessment (POMA), were assessed in two sessions that were seven days apart. Results : The POMA was showed a good intrarater and interrater reliabilities in people with hemiparetic stroke regardless of measure's experience in clinical field. However BBT and DGI were showed below moderate intrarater and interrater reliabilities. Conclusion : The POMA could be a reliable measure to evaluate functional postural stability and gait performance in hemiparetic stroke patients compared with other two clinical measures regardless of measure's experience of physical therapists.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.301-303
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• 2001

This paper deals with the biped robot gait on changing the initial postures. Gait of a biped robot depends on the constraints of mechanical kinematics and initial posture. Also biped robot's dynamic walking stability is investigated by ZMP(Zero Moment Point). The path trajectory. with the knee joint bent like a human, is generated and applied with the above considerations. To decrease trajectory tracking error, in this paper, a new initial posture similar to bird's case is proposed and realized with the real robot.

• 대한전자공학회논문지
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• 제25권7호
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• pp.723-733
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• 1988

In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• 대한기계학회논문집A
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• 제30권4호
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• pp.435-441
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• 2006

The anterior cruciate ligament(ACL) is an important stabilizer of knee joint. The ACL injury of knee is common and a serious ACL injury leads to ligament reconstruction surgery. Gait analysis is essential to identify knee condition of patients who display abnormal gait. The purpose of this study is to evaluate and classify knee condition of ACL deficient patients using a nonlinear dynamic method. The nonlinear method focuses on understanding how variations in the gait pattern change over time. The experiments were carried out for 17 subjects(l2 healthy subjects and five subjects with unilateral deficiency) walking on a motorized treadmill for 100 seconds. Three dimensional kinematics of the lower extremity were collected by using four cameras and KWON 3D motion analysis system. The largest Lyapunov exponent calculated from knee joint flexion-extension time series was used to quantify knee stability. The results revealed the difference between healthy subjects and patients. The deficient knee was significantly unstable compared with the contralateral knee. This study suggests an evaluation scheme of the severity of injury and the level of recovery. The proposed Lyapunov exponent can be used in rehabilitation and diagnosis of recoverable patients.

• 대한물리의학회지
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• 제15권1호
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• pp.1-9
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• 2020

PURPOSE: Many patients with stroke have difficulties in walking with foot-drop. Various types of ankle-foot orthoses (AFOs) have been developed, but their weight needs to be reduced with the assistance of the ankle dorsiflexor. Therefore, an elastic AFO (E-AFO) was devised that not only improves the stability and flexibility of the ankle but also assists with ankle dorsiflexion while walking. This study examined the effects of an E-AFO, on the walking patterns of foot-drop patients with stroke. METHODS: Fourteen patients walked with and without an E-AFO, and the gait parameters were assessed using the GAITRite system. The spatiotemporal data on the gait patterns of stroke patients with foot-drop were compared using paired t-tests; the level of statistical significance was set to α<.05. RESULTS: No significant differences were observed in the velocity (p=.066) and affecte+d step length (p=.980), but the affected and less-affected stance (p=.022, p=.002) and swing time (p=.012, p=.005) were significantly different. The E-AFO produced a significant difference in the less-affected step length (p=.032). CONCLUSION: The E-AFO has a significant effect on the walking patterns of individuals with foot-drop and stroke. The E-AFO could be a useful assistive device for gait training in stroke patients.

• 대한물리의학회지
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• 제12권2호
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• pp.21-31
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• 2017

PURPOSE: The purpose of this study was to identify whether backward walking exercise was more effective than conventional physical therapy for balance and gait in hemiplegic stroke patients. METHODS: Eighteen patients with chronic stroke were randomly assigned to the experimental (n=9) or control (n=9) group. The experimental and control group performed backward walking exercise and conventional physical therapy, respectively, for 8 weeks. Stability Index (SI) and Weight Distribution Index (WDI) during standing were assessed using the Tetrax Balance System. The Timed Up and Go (TUG) test and Korean version of the Berg Balance Scale (K-BBS) were used to evaluate balance and fall risk. Walking speed, stride length, and step length on the affected side were measured using the 10-Meter Walk and ink foot printing tests. Wilcoxon signed-rank and Mann-Whitney U tests were used for within- and between- group comparisons, respectively. RESULTS: The experimental group showed significantly higher changes in SI (p<.01), WDI (p<.01), TUG (p<.001), and BBS score (p<.001) following intervention compared with the control group. The experimental group also showed significantly greater improvements in walking speed (p<.01), stride length (p<.001), and step length on the affected side (p<.001) after intervention compared with the control group. CONCLUSION: Backward walking exercise is an effective intervention to improve balance and gait in hemiplegic stroke patients.

• PNF and Movement
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• 제18권1호
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• pp.55-64
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• 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.