• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.407-412
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• 2015

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.

• The Journal of Korean Physical Therapy
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• v.22 no.1
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• pp.47-51
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• 2010

Purpose: The purpose of this study was to determine whether there are any differences, with and without a toe spreader (TS), in dynamic foot pressure distribution in children with spastic diplegic cerebral palsy. Methods: Dynamic foot pressure recording using the RSscan system were obtained during walking in 12 participants (male=7, female=5) with and without TS. Mean force was measured for four different plantar regions; great toe, forefoot, midfoot, hindfoot. Displacement of center of pressure (COP), velocity of COP displacement and stance time were also measured during gait. Results: TS walking exhibited statistically significant decrease of mean force under great toe and forefoot (p<0.05), compared with a barefoot walking. Also, TS walking exhibited statistically significant increase of antero-posterior displacement of COP (p>0.05). Conclusion: These findings indicate the potential clinical utility of toe spreader to correct dynamic foot pressure during stance phase in children with spastic diplegic cerebral palsy.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.301-306
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• 2001

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

• Korean Journal of Applied Biomechanics
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• v.14 no.3
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• pp.17-35
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• 2004

The purpose of this study is to explain developmental process of gait via angle-angle diagram to understand how coordinated relationships and control change with age. Twenty four female children, from one to five years of age were the test subjects for this study, and their results were compared to a control group consisting of twenty one adult females. The Vicon 370 CCD camera, VCR, video timer, monitor, and audio visual mixer was utilized to graph the gait cycle for all test subjects. Both coordinated Intra-limb relationships, and range of motion and timing according to quadrant were explained through the angle angle diagram. Movement in the sagittal plane showed both coordinated relationships and control earlier than movement in the coronal or transverse plane. In the sagittal plane, hip and Knee coordinated relationships developed first (from one year of age.) Coordinated relationships in the Knee and ankle and hip and ankle developed next, respectively. Both hip and ankle and knee and ankle development were inhibited by the inability of children to completely perform plantar flexion during the swing and initial double limb support phases. Children appeared to compensate for this by extending at their hip joint more than adults during the third phase, final double limb support. In many cases the angle angle diagram for children had a similar shape as adult's angle angle diagram. This shows that children can coordinate their movements at an early age. However, the magnitudes and timing of children's angle angle diagrams still varied greatly from adults, even at five years of age. This indicates that even at this age, children still do not possess full control of their movements.

• Journal of Acupuncture Research
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• v.37 no.3
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• pp.181-186
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• 2020

This case study reports the effect of Korean medicine treatments on a 73 year-old female who had a cerebellar infarction. She was hospitalized for 120 days (without visiting Western medicine hospital) where she was treated with acupuncture, herbal decoction, pharmacopuncture, chuna, moxibustion and physiotherapy. Following treatment, her symptoms of dizziness were evaluated using the numeric rating scale and showed pain had reduced (3 to 0). The K-Modified Barthel, showed that life performance had improved (15 to 74), and the Berg balance scale showed an improved balance (2 to 32). Steps per minute and gait posture at stance phase for ataxia also showed improvement. This case report shows that Korean medicine treatment is effective in alleviating dizziness and improved gait instability caused by cerebellar infarction.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.147-154
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• 2007

This study's purpose is to investigate the effects on leg muscle activity caused by perturbation, using a trapdoor system during the support phase of gait for healthy adults (n = 6, height $177.5{\pm}5.5cm$, weight $81.0{\pm}9.5kg$, age $30.0{\pm}3.3yrs$). The trapdoor had the functional ability of causing inversion or eversion. The release time for the trapdoor was specified for two times, 0.3 and 0.5 seconds after heel contact. While altering these variables, EMG was recorded for the leg muscles (rectus femoris, biceps femoris, vastus lateralis, tibialis anterior, gastrocnemius, soleus). The following conclusions were derived. The steptime was longer for the 0.5s eversion than 0.3s inversion condition. So in order to regain stability after the perturbation the unsupporting leg reached forward rapidly. This quick reflex can be observed through the center of pressure (COP) and its rapid change in direction. The gastrocnemius was activated throughout the total experiment. There was a low amount of activity recorded in the rectus femoris, vastus lateralis and tibialis anterior except for the condition of inversion 0.3s. For most of the conditions, the highest average EMG peak values were recorded during the condition of inversion 0.3s. The iEMG patterns were similar for the conditions of inversion 0.3s and eversion 0.3s. To cope with the rapid change in these conditions, the biceps femoris was activated. During the experiment except for the condition of normal gait, the activity of the soleus and gastrocnemius was relatively high. Therefore, to prevent injury from perturbation of the lower leg strengthening of the soleus and gastrocnemius is required. Likewise to prevent injury to the thigh strengthening for the biceps femoris.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.177-195
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• 2005

The purpose of this study was to analyze the kinematic variables of ankle joints and EMG signal of the lower limbs muscle activity for the different walking speed. The subjects were 6 males of twenties. It was classified into three different walking speed-0.75m/s, 1.25m/s, 1.75m/s. The walking performances were filmed by high speed video camera and EMG signal was gained by ME3000P8 Measurement Unit. Tibialis anterior(TA), Gastrocnemius medial head(GM), Gastrocnemius lateral head(GL), Ssoleus(SO) were selected for the dorsiflexion and plantarflexion of the ankle joint. The result of this study were as follows: 1. In the gait cycle, The time parameters for the phases were showed significant difference without the terminal stance phase and terminal swing phase for the different walking speed. 2. The angle of ankle joint was no significant difference for each time point and MDF, MPF but increasing walking speed the angle had the increasing pattern slightly. 3. The angular velocity of ankle joint was showed the significant difference for LHC, RTO, RKC, LHU, MPF and MDF point along the walking speed. 4. TA was showed about 2-3 times muscle activity at the 1.75m/s than 1.25m/s in some phases. And it was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 0.75m/s. GM was showed about 2-3 times muscle activity in the 1.75m/s than 1.25m/s, and even much muscle activity at the 0.75m/s than 1.25m/s in some phases. GL was showed increasing pattern of muscle activity specially in the initial swing phase as the walking speed increased. SO was showed about 3 times muscle activity in the 1.75m/s than 1.25m/s during the plantarflexion of ankle joint. It was showed the similar muscle activity between the 0.75m/s and 1.25m/s but, showed a little much muscle activity in the 1.25m/s.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.177-185
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• 2014

In this study, the exoskeleton orthosis for the assistance of dorsiflexion torque in ankle joint to prevent foot-drop was developed. It was consist of three part; 1) the power part using artificial pneumatic actuator, 2) wearing part of ankle and knee joints to fix the orthosis, and 3) control part to detect the gait phase using physiological signal. The dorsiflexion torque was generated by the artificial pneumatic actuator connected with wearing part between ankle and knee joint. The accurate timing to assist dorsiflexion torque is made up of physiological signal in foot sole part that detect the gait phase, that is, stance and swing phase in each foot. We conduct the experiment to investigate the effect of exoskeleton orthosis to the 7 elderly people and 10 healthy people. The result showed that the muscular activities in tibialis anterior muscle were reduced because of the assistance of dorsiflexion torque in ankle joint using the exoskeleton orthosis.

• Journal of Biomedical Engineering Research
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• v.32 no.2
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• pp.165-176
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• 2011

The femoral nerve innervates the quadriceps muscles and its dermatome supplies anteromedial thigh and medial foot. Paralysis of the quadriceps muscles due to the injury of the femoral nerve results in disability of the knee joint extension and loss of sensory of the thigh. A child could walk independently even though he had injured his femoral nerve severely due to the penetrating wound in the medial thigh. We measured and analyzed his gait performance in order to find the mechanisms that enabled him to walk independently. The child was eleven-year-old boy and he could not extend his knee voluntarily at all during a month after the injury. His gait analysis was performed five times (GA1~GA5) for sixteen months. His temporal-spatial parameters were not significantly different after the GA2 or GA3 test, and significant asymmetry was not observed except the single support time in GA1 results. The Lower limb joint angles in affected side had large differences in GA1 compared with the normal normative patterns. There were little knee joint flexion and extension motion during the stance phase in GA1 The maximum ankle plantar/dorsi flexion angles and the maximum knee extension angles were different from the normal values in the sound side. Asymmetries of the joint angles were analyzed by using the peak values. Significant asymmetries were found in GA1with seven parameters (ankle: peak planter flexion angle in stance phase, range of motion; ROM, knee: peak flexion angles during both stance and swing phase, ROM, hip: peak extension angle, ROM) while only two parameters (maximum hip extension angle and ROM of hip joint) had significant differences in GA5. The mid-stance valleys were not observed in both right and left sides of vertical ground reaction force (GRF) in the GA1, GA2. The loading response peak was far larger than the terminal stance peak of vertical ground reaction curve in the affected side of the GA3, GA4, GA5. The measured joint moment curves of the GA1, GA2, GA3 had large deviations and all of kinetic results had differences with the normal patterns. EMG signals described an absence of the rectus femoris muscle activity in the GA1 and GA2 (affected side). The EMG signals were detected in the GA3 and GA4 but their patterns were not normal yet, then their normal patterns were detected in the GA5. Through these following gait analysis of a child who had selective injuries on the knee extensor muscles, we could verify the actual functions of the knee extensor muscles during gait, and we also could observe his recovery and asymmetry with quantitative data during his rehabilitation.

• Physical Therapy Korea
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• v.13 no.4
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• pp.71-78
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• 2006

This study examined the effects of socket flexion angle in trans-tibial prosthesis on stump/socket interface pressure. Ten trans-tibial amputees voluntarily participated in this study. F-socket system was used to measure static and dynamic pressure in stump/socket interface. The pressure was measured at anterior area (proximal, middle, and distal) and posterior area (proximal, middle, and distal) in different socket flexion angles ($5^{\circ}$, $0^{\circ}$, and $10^{\circ}$). Paired t-test was used to compare pressure differences in conventional socket flexion angle of $5^{\circ}$ with pressures in socket flexion angles of $0^{\circ}$ and $10^{\circ}$ (${\alpha}$=.05). Mean pressure during standing in socket flexion angle of $10^{\circ}$ decreased significantly in anterior middle area (19.7%), posterior proximal area (10.4%), and posterior distal area (16.3%) compared with socket flexion angle of $5^{\circ}$. Mean pressure during stance phase in socket flexion angle of $0^{\circ}$ increased significantly in anterior proximal area (19.3%) and decreased significantly in anterior distal area (19.7%) compared with socket flexion angle of $5^{\circ}$. Mean pressure during stance phase in socket flexion angle of $10^{\circ}$ decreased significantly in anterior proximal area (19.6%) and increased significantly in anterior distal area (8.2%) compared with socket flexion angle of $5^{\circ}$. Peak pressure during gait in socket flexion angle of $0^{\circ}$ increased significantly in anterior proximal area (23.0%) compared with socket flexion angle of $5^{\circ}$ and peak pressure during gait in socket flexion angle of $10^{\circ}$ decreased significantly in anterior proximal area (22.7%) compared with socket flexion angle of $5^{\circ}$. Mean pressure over 80% of peak pressure ($MP_{80+}$) during gait in socket flexion angle of $0^{\circ}$ increased significantly in anterior proximal area (23.9%) and decreased significantly in anterior distal area (22.5%) compared with socket flexion angle of $5^{\circ}$. $MP_{80+}$ during gait in socket flexion angle of $10^{\circ}$ decreased significantly in anterior distal area (34.1%) compared with socket flexion angle of $5^{\circ}$. Asymmetrical pressure change patterns in socket flexion angle of $0^{\circ}$ and $10^{\circ}$ were revealed in anterior proximal and distal region compared with socket flexion angle of $5^{\circ}$. To provide comfortable and safe socket for trans-tibial amputee, socket flexion angle must be considered.