• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.477-479
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• 2021

Objectives :This study aimed to determine whether obstacle walking training can improve gait and balance in stroke patients. Methods : Obstacle walking training and Flatland walking training was accordingly applied in each group for 30 minutes per session, 5 times per week for 4 weeks. Gait was assessed using a 10MWT and Balance was FRT, respectively, before and after training. Results : 10MWT and FRT were significantly increased in experimental groups after training (p<.05) but there were no significant difference in control group. There were a significant difference between the groups.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.686-691
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• 2003

In the paper, an intelligent biped walking robot that can overcome the obstacle is developed. Walking algorithms are designed based on the analysis of the human's manner of walking. Infrared sensors are used to detect the obstacles in the working environment and the remote controller of the biped robot use a RF module. The experiment results show that the developed biped walking robot can perform the stable static walking, attention walking, rotation and side stepping to avoid the obstacle, and hurdling the obstacle using the distance correction algorithm that is designed based on the distance information between the biped robot and the obstacle.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.1
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• pp.125-135
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• 2012

Purpose : This study is designed to demonstrate the effects of circuit obstacle group gait training on walking ability and emotion in stroke patients. Methods : Twenty one patients with stroke were participated in this study. The subjects were divided into control group(n=10) and experimental group(n=11). Circuit obstacle group gait training consisted of walking around obstacles, walking over obstacles, walking up and down slopes and walking up and down stairs. Circuit obstacle group gait training was conducted five times per week, 1 hour per session, for 6 consecutive weeks. At pre-test and post-test, subjects were tested with 10 m walking test, timed up and go test, up and down 4 stairs test, depression and self esteem. Results : After 6 weeks of research, the experimental group showed statistically significant difference in all items when comparing prior to training and after training (p<.05), but the control group showed statistically significant difference in items other than depression and self esteem(p<.05). In the comparison between the two groups, the experimental group showed higher improvement than the control group in the 10 m walking test, timed up and go test, and up and down 4 stairs test, and there was statistically significant difference in decrease of degree in depression between the experimental group and control group(p<.05). Conclusion : This study have shown that circuit obstacle group gait training improves walking ability and emotion in stroke patients.

• Journal of Korea Society of Industrial Information Systems
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• v.25 no.3
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• pp.31-38
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• 2020

In this paper, we compare and analyze smart technologies and present six obstacle detection features to help visually impaired people walk. Traditionally, visually impaired people walk with the white cane or a guide dog. With the development of IoT technology, various smart walking aids systems have been developed. Those intelligent walking aids systems have obstacle-detecting systems and route-guidance systems. Many researchers are developing the walking aids system, which detects an obstacle and provides the obstacle information by haptic feedback. Also, they are designing the database server system to share the obstacle information. Particularly the composed system can quickly give an obstacle-avoidance route using shared obstacle information. Smart walking aids systems for visually impaired people will advance more rapidly by applying machine learning and intelligent systems.

• Journal of Korea Multimedia Society
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• v.20 no.2
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• pp.344-351
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• 2017

In this paper, we propose the obstacle database management module for obstacle estimation and clustering. The proposed G-eye manager system can create customized walking route for blind people using the UI manager and verify the coordinates of the path. Especially, G-eye management system designed a regional information module. The regional information module can improve the loading speed of the obstacle data by classifying the local information by clustering the coordinates of the obstacle. In this paper, we evaluate the reliability of the walking route generated from the obstacle map. We obtain the coordinate value of the path avoiding the virtual obstacle from the proposed system and analyze the error rate of the path avoiding the obstacle according to the size of the obstacle. And we analyze the correlation between obstacle size and route by classifying virtual obstacles into sizes.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.639-644
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• 2003

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.1
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• pp.161-166
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• 2011

This paper addresses the vision based autonomous walking control system. To handle the obstacles which exist beyond the field of view(FOV), we used the 3d panoramic depth image. Moreover, to decide the avoidance direction and walking motion of a humanoid robot for the obstacle avoidance by itself, we proposed the vision based path planning using 3d panoramic depth image. In the vision based path planning, the path and walking motion are decided under environment condition such as the size of obstacle and available avoidance space. The vision based path planning is applied to a humanoid robot, URIA. The results from these evaluations show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a practical humanoid robot.

• Physical Therapy Korea
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• v.18 no.3
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• pp.16-25
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• 2011

This study aimed to evaluate factors related to the ability of ambulatory patients with cerebral palsy (CP) to walk over vertical and horizontal obstacles. Twenty patients with spastic CP who were able to walk independently for at least 10 m with or without walking devices were recruited for the study. Participants were required to walk over small obstacles (1, 4, and 8 cm in height or width; total of 6 conditions). A 'fail' was recorded when either the lower limbs or the walking device contacted the obstacle. Linear regression analyses were used to determine the effects of age, sex, walking devices, eyeglasses, subtype (hemiplegia or diplegia), ankle foot orthoses, functional level, and score of body mass index on the ability of obstacle crossing. Fifteen participants (75%) failed to adequately clear the foot or walking device over obstacles in at least 1 condition. The chance of failure in crossing vertical obstacle was affected by the use of ankle foot orthoses, eyeglasses, gender, and CP subtype (p<.05). The failure rate crossing horizontal obstacle was affected by CP subtype. These findings suggest that rehabilitation procedures should (1) consider the clinical characteristics of patients in order to prepare them to be more independent while performing daily activities, and (2) incorporate environmental conditions that patients encounter at home and in the community.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.7 s.94
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• pp.1864-1873
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• 1993

A biomechanical approach was carried out to analyze foot-floor reaction forces acting on five male subjects performing a walking task. The task analyzed was walking over an obstacle with the right bare foot. The foot-floor reaction data were measured from a force plate, and then processed using a software developed. The source program was coded in the C language for easier on-line data acquisition and graphic displays. High repeatability was found in the reaction data acquired from three trials by each subject. For obstacle height from 0 to 25 cm, the maximum in reaction force reached up to 1.048 BW in the vertical, 0.174 BW in the anterior-posterior, and 0.054 BW in the medio-lateral components, respectively. A quantity was defined by the difference between two vertical reaction values, and this quantity was found to be proportional to the obstacle height. It was also shown that the whole body motion could be predicted the measured foot-floor reaction data.

• PNF and Movement
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• v.21 no.1
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• pp.119-128
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• 2023

Purpose: Obstacle crossing training is being used to improve the walking ability of stroke patients, but studies on which method is more effective when performing obstacle crossing training with an unaffected limb lead (OCT-ULL) and an affected limb lead (OCT-ALL) are not well known. As such, this study aims to compare the intervention effects of obstacle crossing training using unaffected limb leads (OCT-ULL) and obstacle crossing training using affected limb leads (OCT-ALL). Methods: In total, 25 patients with chronic stroke were studied and assigned randomly to the obstacle crossing training with unaffected limb leads (OCT-ULL) group or the obstacle crossing training with affected limb leads (OCT-ALL) group. A lower extremity strength test, balance and gait test, and fall efficacy test were conducted as preliminary tests, and all patients participated in the intervention for 30 minutes a day, five days a week for four weeks, and the same preliminary tests were conducted post-intervention. Results: Compared with the OCT-ALL group, the OCT-ULL group showed a significant improvement in the strength of the affected hip abductor muscle and in balance and gait, as well as in fall efficacy (p<.05). Conclusion: This study suggested that applying the OCT-ULL training method in the obstacle crossing training of stroke patients is more effective for improving balance and gait functions than OCT-ALL.