• 전자공학회논문지SC
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• 제43권3호
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• pp.16-24
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• 2006

본 논문에서는 비평탄 지형을 보행하기 위한 육족 보행 로봇의 내고장성 걸음새 계획을 제안한다. 본 논문에서 고려하고 있는 고장은 관절고착고장으로 로봇 다리의 관절 하나가 어떤 위치에 고착되어서 보행이 끝날 때까지 움직일 수 없는 상태를 말한다. 기존에 제안되었던 평탄 지형 보행을 위한 내고장성 세다리 걸음새 계획을 바탕으로 본 논문에서는 육족 보행 로봇이 관절고착고장이 발생한 후에도 이차원 착지 불가능 영역이 존재하는 비평탄 지형을 걸을 수 있도록 하는 내고장성 FTL(Follow-The-Leader) 걸음새를 구현한다. 제안된 FTL 걸음새는 고장 난 다리의 착지점에서 로봇이 가질 수 있는 최대한의 보폭을 낼 수 있으며, 기존 내고장성 걸음새보다 착지 불가능 영역을 뛰어넘는 능력이 더 우수하다. 컴퓨터 시뮬레이션을 통해서 제안된 FTL 걸음새의 응용가능성을 검증한다.

• 대한물리의학회지
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• 제7권1호
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• pp.49-58
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• 2012

Purpose : The purpose of this study was to investigate the effects of trunk stabilization exercise using swiss ball and core stabilization exercise on balance and gait in elderly women. Methods : Subjects 19 elderly women were randomly divided by the swiss ball exercise group (n=10) and the core stabilization exercise group (n=9). In a period of 4 weeks, they took trunk stabilization exercise using swiss ball and core stabilization exercise for 60 minutes 3 times a week. Balance and gait were measured by Functional Reach Test (FRT), One Leg Stand Test with Open Eye (OLSTOE), One Leg Stand Test with Closed Eye (OLSTCE), Timed Up and Go Test (TUG) and 6 m Walking Test (6MWT). These tests were measured at before exercise, 4 weeks after exercise and after the follow-up period of 2 weeks. Results : As a result, in all measurement values there was no significant difference in two groups (p>.05). In FRT, TUG, OLSTOE and 6MWT before exercise and 4 weeks after exercise, there was significant difference in both of two groups (p<.05). Moreover, according to results from 4 weeks after exercise and after the follow-up period of 2 weeks, without any particular exercise, in FRT and 6MWT there was no significant difference (p>.05). Conclusion : These finding indicate that trunk stabilization exercise using swiss ball could improve balance and gait in elderly women. Accordingly, In this study trunk stabilization exercise using swiss ball and core stabilization exercise is judged to be used for elderly people with gait and balance problems to prevent hurts from fall.

• 한국융합학회논문지
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• 제11권1호
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• pp.57-63
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• 2020

본 연구는 수동진동을 융합한 슬링운동이 뇌졸중환자의 균형과 보행에 미치는 영향을 알아보는데 목적이 있다. 1회 35분 주3회 6준간 실시하였다. 슬링운동 실험군과 대조군 각각 8명으로 나누었다. 균형과 보행을 측정하였다. 실험군과 대조군의 중재 후 군간 비교에서 눈 뜨고 서기와 눈 감고 서기는 유의한 차이가 나타났다. 실험군과 대조군 모두 중재 전후 눈 뜨고 서기, 눈 감고 서기, 안정성 한계, 보행 속도에서 군내 유의한 차이가 나타났다. 진동슬링 운동이 뇌졸중 환자의 균형과 보행을 증진시키는데 도움을 줄 수 있다고 사료된다. 향후 많은 대상자와 다양한 주파수, 효과적인 운동기간에 대한 연구가 필요하다.

• 한국운동역학회지
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• 제17권1호
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• pp.111-119
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• 2007

The purpose of this study was to investigate muscle activity and gait pattern in lower limb depending on the outsole of heel rockers. Fifteen healthy men volunteered for this experiment. Each subject performed totally three trails with two pairs of different heel rocker shoes and a pair of normal running shoes at speed of 1.33m/s for 1 minute during walking on a treadmill. Kinematic data gathered in 100Hz was recorded and analyzed by using the 3D motion capture system to measure the trunk tilt and joint angle of the right lower limb. And the lower extremity muscle activities were simultaneously recorded in 1000Hz and assessed by using EMG. The statistical analysis was the one-way ANOVA with the repeated measures to compare among the three kinds of shoes. The level of statistical significance for all tests was 0.05. Joint angle of lower limb was showed statistically significant different in MST(hip joint), LHS(ankle joint), and RTO(knee and ankle joint). Muscle activity of rectus femoris and biceps femoris was statistically increased in both heel rocker shoes during gait cycle on treadmill. The maximum peak time of tibialis anterior in the negative heel rocker showed the delay of approximately 23.8%time than normal shoes. Gait pattern variability of the negative heel rocker was increased in the first half of the stance phase and the variability of the positive heel rocker was increased in the terminal stance phase. In Conclusion, stability was decreased in between joints of lower limb on positive heel rocker than negative heel rocker. This study found that there were different joint angle, muscle activity, gait pattern and coordinate system of the lower limb in each kind of shoes. These unstability affected the lower extremity and the whole body. A further study has to be continued with study of rehabilitation and exercise for a long-term.

• 한국운동역학회지
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• 제23권1호
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• pp.85-90
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• 2013

Efficient gait is compensate for a lack of exercise, but the wrong walking can cause disease that joints, muscles, brain and body structure(Scott & Winter, 1990). Also many researchers has been studied gait of positive mechanism using analytical methods kinetic, kinematic. This study is to identify nature of knee adduction moment, depending on different foot progression angle and the movement of rotation of pelvis and body. Health study subject conducted intended walking with three different angles. The subjects of this study classified three types of walking; walk erect, pigeon-toed walk and an out-toed gait. Ten university students of K without previous operation and disease record selected for this study. For accuracy of this study, three types of walking carried out five times with 3D image analysis and using analysis of ground reaction force to analyze nature of knee adduction moment and the movement of rotation of pelvis and body. Firstly, the HC(heel contact) section value of intended walk erect, pigeon-toed walk and an out-toed gait was not shown statistically significant difference but TO(toe off) section value was shown that the pigeon-toed walk statistically significant. The value of pigeon-toed walk was smallest knee adduction moment(p< 0.005). Secondly, X axis was the change of rotation movement body and pelvis when walk erect, pigeon-toed walk and an out-toed gait. Shown statistically Y axis was not shown statistically significant but Z axis statistically significant(p<0.05). These result show the significant differences on TO section when walking moment reaches HC, it decides the walking types and rotates the foot.

• 한국산학기술학회논문지
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• 제19권2호
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• pp.422-428
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• 2018

본 연구는 퇴행성 관절염으로 인해 무릎관절 전치환술을 실시한 환자를 대상으로 체간 안정화 운동이 무릎기능, 균형, 보행능력 향상에 어떠한 영향을 미치는지 알아보고자 한다. 본 연구 대상자는 퇴행성 관절염으로 진단 받아 무릎관절 전치환술을 실시한 환자 24명을 선정하여, 무작위 배분으로 일반 물리치료를 실시한 대조군 12명, 체간 안정화 운동을 실시한 실험군 12명으로 구성하였다. 체간 안정화 운동은 선행 연구를 참고하여 구성한 3가지 운동을 총 4주간 실시하였다. 측정도구로는 무릎기능 측정은 무릎관절 주관적 기능 점수 척도를, 균형능력은 일어나 걷기 검사, 한발 서기 검사를 보행능력은 10미터 걷기 검사를 이용하였다. 통계학적 분석은 각 그룹 내 비교는 대응표본 t-검정, 각 그룹 간 비교는 독립표본 t-검정으로 분석하였다. 본 연구 결과 중재 후 실험군이 대조군에 비해 모든 측정 결과가 유의하게 향상되어 나타났다(p<.05). 이와 같은 결과를 바탕으로 무릎관절 전치환술 환자를 대상으로 무릎관절 치료와 함께 체간 안정화 운동을 실시한다면, 환자의 무릎기능, 균형, 보행에 좀 더 효과적이라고 판단된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.574-577
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• 2001

This paper presents the comparison of FRI(Foot Rotation Indicator) point and ZMP(Zero Moment Point) in biped robot stability. We showed FRI may be employed as a useful tool in stability analysis in biped robot. Also, we proposed the balancing joint trajectory derived from FRI point equation for stable gait. The numerical calculation routines and walking algorithms for simulation are performed by MATLAB. The procedure is composed of the leg trajectory planning, the generation of balancing trajectory, and the verification of dynamic stability.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.235-236
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• 2008

• 한국운동역학회지
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• 제21권2호
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• pp.223-230
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• 2011

The purpose of this study was to analysis the effect of form and hardness of outsoles on the motion of the lower extremity joints and on foot pressure during gait. The subjects were 15 women(mean age, $48.5{\pm}2.4$ years), who had no serious musculoskeletal, coordination, balance or joint/ligament problems within 1 year prior to the study. The pelvic tilt, joint angles at the lower extremities and the vertical ground reaction force(GRF) were compared during gait with 3 types of shoes (A, B, C) by using one-way repeated ANOVA(p<.05). During gait, the peak tilt angle and the range of motion(ROM) of the ankle and knee joints were found to be significantly different among the 3 types of shoes. The type C shoes showed a significantly lower mean second maximum vertical GRF than types A and B. The curved outsoles of type C shoes, which had a form and hardness different from those of A and B, was designed strategically for walking shoes to provide stability to the Additionally, type C induced the dispersion of eccentric pressure and made the center of pressure roll over to the center line of the foot.