• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 성인간호학회지
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• 제20권4호
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• pp.561-572
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• 2008

Purpose: To examine the effects of power walking exercise on fatigue and overweight in college students with Taeumin constitution. Methods: According to results of the constitution diagnosis (QSCC II), 58 students who were identified as Taeumin, whose BMI was over 23 were assigned to one of three groups. The power walking group walked fast at a speed of 7,000 steps per hour using a pedometer, and the walking group walked at a speed of 5,000 steps per hour. There was no treatment with control group. Each group's fatigue level, blood lipids and body composition before and after the experiment were compared and analyzed. Results: Total fatigue and total cholesterol decreased significantly in the power walking group compared to the walking group and the control group. Weight decreased significantly in the power walking group compared to the control group, and percentage of body fat decreased significantly in both the power walking group and the walking group compared to the control group. Conclusion: When power walking exercise was used with overweight Taeumin students, fatigue, blood lipid, weight and percentage of body fat decreased significantly.

• 한국운동역학회지
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• 제20권1호
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• pp.33-39
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• 2010

The purpose of this study was to investigate the changes in walking pattern of the elderly during inclined walkway with uneven surfaces and level walking. 10 young($26.3{\pm}1.3$ years, $174.3{\pm}5.3\;cm$, $69.5{\pm}9.5\;kg$) and 13 elderly($72.4{\pm}5.2$ years, $164.5{\pm}5.4\;cm$, $66.1{\pm}9.6\;kg$) male subjects were participated in the experiment. Experiment consisted of 2 walking conditions: horizontal and inclined walkway with uneven surfaces. 3D motion capturing system were used to acquire and analyze walking motion data with sampling frequency of 120 Hz. To compare differences between conditions, kinematic variables(walking speed, stance-swing ratio, hip joint angle, knee joint angle, ankle joint angle, pelvic rotation angle) were used. Results showed that there were some changes of elderly walking pattern in inclined walkway with uneven surfaces: hip joint(adduction and rotation) and pelvic movement pattern. These changes by inclination and surface may affect gait pattern of young subjects as well as elderly subjects. However, in case of elderly it revealed more unstable gait than the young. Further study is necessary to clarify changes in walking pattern for elderly by considering various gait variables including head movement and various walkway conditions.

• 한국운동역학회지
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• 제25권3호
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• pp.241-248
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• 2015

Objective : The purpose of this study was to investigate the theta on the components of ground reaction force according to the ground conditions during gait. Method : Six healthy women(mean age: 22 yrs, mean height: $166.14{\pm}2.51cm$, mean body weights: $56.61{\pm}4.58kg$) participated in this study. The medial-lateral GRF(Fx 1), anterior-posterior GRF(Fy 1, Fy 2), vertical GRF(Fz 1, Fz 2, Fz 3), and impact loading rate were determined from time function and frequency domain. Also, GRF theta were time function and forces. Results : Fx 1, Fy 1 and Fy 2 of stair descending showed significant statistically higher forces than that of level walking, and ascending. Fz 1 of stairs descending showed significant statistically higher forces than that of level walking and stairs ascending(theta $88.62^{\circ}$). Also, Fz 2 of level walking showed significant statistically higher forces than that of stairs ascending and descending(theta $65.78^{\circ}$). Fz 3 of stairs ascending showed significant statistically higher forces than that of level walking and stairs descending($65.26^{\circ}$). Impact loading rate of stairs descending showed significant statistically higher forces than that of level and ascending walking. The GRF showed similar correlation with GRF theta(r=.603) according to the ground conditions during gait. Conclusion : These results suggest that the GRF theta can be used in conjunction with a gait characteristics, prediction of loading rate and dynamic stability.

• 한국산림과학회지
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• 제99권1호
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• pp.47-51
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• 2010

본 연구의 목적은 일회성 산림 걷기 운동이 내당능장애(impaired glucose tolerance, IGT)와 인슐린 비의존성 당뇨병(non-insulin-dependent diabetes mellitus, NIDDM)환자의 혈당치 변화에 어떠한 영향을 미치는 가를 알아보기 위한 것이었다. 연구의 대상자는 노인 여성(n=60)을 IGT 산림 걷기 운동군(n=15; $66.21{\pm}4.16$ yrs), NIDDM 산림 걷기 운동군(n=15; $64.85{\pm}3.23$ yrs), IGT 운동장 걷기 운동군(n=15; $67.44{\pm}1.78$ yrs), NIDDM 운동장 걷기 운동군(n=15; $65.55{\pm}8.21$ yrs)으로 구분하여 운동강도 HRmax 50~60%의 산림 걷기 운동(인터벌+저항성 근육운동)과 운동장 걷기 운동(유산소성 운동) 프로그램을 적용하여 운동 전과 후에 혈당을 측정하여 분석하였다. 그 결과, 첫째 내당능장애군에서 산림 걷기와 운동장 걷기 집단은 운동 후에 모두 유의한 수준에서 혈당치의 감소를 보였고, 둘째 인슐린 비의존성 당뇨병군에서 산림 걷기 집단은 운동 후에 혈당치가 유의하게 감소되었지만 운동장 걷기 집단은 특별한 혈당치의 변화가 없었다. 따라서 본 연구는 유산소 운동으로 지속적으로 운동장을 걷는 운동보다 오르막 내리막 지형을 이용한 인터벌 운동과 저항성 근육운동의 복합 형태인 산림 걷기 운동이 내당능장애와 인슐린 비의존성 당뇨병 환자에 더 효과적인 것으로 제안한다.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.258-266
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• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• The Journal of Korean Physical Therapy
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• 제23권3호
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• pp.13-19
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• 2011

Purpose: In real life there are both straight-paths and curved-paths. To evaluate walking ability of both kinds, a figure-8 walking test (F8WT) was developed. The aim of this study was to validate the measure in hemiplegic patients with walking difficulties and to identify correlations of curved walking ability with straight walking ability, motor function, and walking performance ability. Methods: Twenty subjects participated in this study. Curved walking was measured by a F8WT. Straight walking ability was measured by a 10-meter walking test (10MWT). Dynamic balancea bility was measured by timed up and go (TUG) tests. Walking performance ability was measured using a modified motor assessment scale (MMAS). Motor function was measured by the Fugl-Meyer assessment (FMA) scale. Data were analyzed using Pearson correlation analysis. Linear regression analyses were performed to explore other functional tests in mobility ability by F8WT time, 10MWT (dependent variable). Results: There was a significant positive correlation of F8WT time with 10MWT and TUG. There was a significant negative correlation of F8WT time with MMAS and FMA-coordination. There was a significant positive correlation of 10MWT with TUG. There was a significant negative correlation of 10MWT with MMAS and FMA-coordination. The F8WT time for curved walking ability was attributed to 10MWT for straight walking ability as 94% level of contribution. Conclusion: The results suggest that the F8WT is a good instrument for measuring walking ability because there is a robust correlation of F8WT time with 10MWT, TUG, MMAS, and FMA-coordination in hemiplegic patients who, after stroke, have a mobility deficiency.

• 대한임상전기생리학회지
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• 제8권1호
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• pp.7-13
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• 2010

Purpose : This study was performed as follows in order to investigate the effect of presynaptic inhibition mechanism using the transcutaneous electrical stimulation (TES) for global synkinesis (GS) on the post-stroke hemiplegic patients. Methods : The subjects consist of 38 post stroke hemiplegic patients; experiments were performed on thirty patients excluding eight. The experiment was performed on sham group, sensory level stimulation group, and motor level stimulation group for 20 minutes a day 5 times a week for 6 weeks total. We compared the differences in GS levels and walking ability. The measurements were carried out pre, immediated, post 10th, and 20th, for a total of four measurements. Results : The GS level using sEMG found significant differences between groups at the post 10th and post 20th in dorsiflexion, and post 20th in plantarflexion (p<0.05, p<0.01). The motor level group indicated more significant differences when the number of electrical stimulations increased. TUG and 10 m walking test indicated a significant difference at immediated, post 10th, and post 20th. The motor level group showed more significant decreasing tendency than the sensory level group. Conclusion: From these results, electrical stimulation using presynaptic inhibition mechanism of transcutaneous electrical stimulation (TES) had positive effects for walking ability on inhibition of muscle tone in lower extremity. The motor level stimulation group experienced a more significant effect than the sensory level stimulation group. Therefore, the transcutaneous electrical stimulation (TES) is considered to be effective on walking ability increasing through inhibition of muscle tone in lower extremity for rehabilitation of post stroke hemiplegic patients.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제22권1호
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• pp.7-15
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• 2016

Purpose: There are the number of color tactile walking surface indicators installed in Korea, because of indefinite regulation in blind and vision-impaired persons' tactile walking surface indicators. In case of yellow tactile walking surface indicators, it shows a deviation severe color. In this study, the researchers suggested color and brightness reference for helping blind and vision-impaired persons' walking through analyzing the color references of tactile walking surface indicators and the color luminance between tactile walking surface indicators and sidewalk currently used. Method: Reasonable luminance contrast criteria is suggested by examining ways of improving the recognition and recognition of objects according to color contrast visually impaired through literature review and analyzing standards of tactile walking surface indicators and the Europe, Japan and Australia of color and luminance contrast criteria. And by examining the color of the tactile walking surface indicators reported in Korea currently used to derive the problem presented by the luminance contrast in the reference and comparison. Finally, the visually impaired tactile walking surface indicators is set for color selection criteria for the recognition rate improves. Results: In order to improve the recognition rate to be tactile walking surface indicators of the contrast of the visually impaired and the environment than the color of the tactile walking surface indicators itself to secure always a certain level or more of brightness contrast values in the set of the color of the tactile walking surface indicators so important. Implication: In order to set the blind tactile walking surface indicators color recognition based on the verification of the real pedestrian based on the results presented in this paper it is required. It is to be understood as an element of the barrier free configuration for securing the walking pedestrian safety.

• 대한통합의학회지
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• 제10권4호
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• pp.145-151
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• 2022

Purpose : Stroke patients exhibit abnormal walking patterns such as slow walking speed and asymmetrical walking values. The recovery of symmetrical walking in the stance phase using a treadmill means improvements in walking speed and asymmetrical walking. The purpose of this research was to investigate the effect of unilateral step treadmill training (USTT) on gait speed and the recovery of symmetrical walking in chronic stroke patients. Methods : Fifteen patients (11 men and 4 women) with chronic stroke participated in this study. The 10-meter walk test (10MWT) and GAITRite system were used to determine the intervention-related changes in gait speed and symmetrical walking values such as non-paretic step length (NSL), non-paretic step time (NST), paretic single-support time (PSST), step length asymmetry (SLA), and step time asymmetry (STA) after USTT. All participants completed USTT and underwent measurements at 3 different times: at pretest, posttest, and the follow-up test. Repeated-measures analysis of variance was used to compare walking speed and asymmetrical walking values. The statistical significance level was set at p<.05. Results : Walking speed by 10MWT (p<.05) showed significant improvements after USTT as follows: at pretest and posttest (p<.05), posttest and follow-up test (p<.05), and pretest and follow-up test (p<.05). Recovery of symmetrical walking patterns such as NSL (p<.05), NST (p<.05), and SLA (p<.05) were observed after USTT. However, no significant improvements were found in PSST (p>.05) and STA (p>.05) in symmetrical gait. Conclusion : This study suggests that USTT may have a positive effect on walking speed and symmetrical walking patterns in chronic stroke patients. Thus, this study contributes to the existing knowledge about the usefulness of USTT for the effective management of patients with chronic stroke. Further studies are needed to generalize these findings.