• 한국산학기술학회논문지
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• 제14권1호
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• pp.199-205
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• 2013

본 연구는 네 가지의 가방 휴대방법에 따라 세 가지 가방의 무게를 달리하여 보행의 변화를 분석하고자 시행하였다. 20명의 건강한 성인이 연구에 참여하였다. 첫 번째 조건은 한쪽 어깨에 가방을 메고 보행하였고, 두 번째 조건은 한쪽으로 가로질러 가방을 매고 걸었다. 세 번째 조건은 양쪽 어깨에 가방을 메고 걸었고, 네 번째 조건은 한쪽 손으로 가방을 들고 걸었다. 각 네 가지 조건에 모든 대상자가 참가하였고, 오른쪽 신발에 SmartStep의 깔창을 깔고 오른쪽 발목에는 압력제어장치를 묶었다. 모든 대상자는 각각 4가지 조건에서 2.5 kg, 5 kg, 7.5 kg의 무게를 지닌 가방을 휴대하여 10 m를 걸었다. 각 조건에서 2.5 kg, 5 kg, 7.5 kg의 가방의 무게에 따라 입각기 비율, 유각기 비율과 보행속도는 통계학적으로 유의한 차이가 있었다.

• 한국콘텐츠학회논문지
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• 제11권12호
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• pp.317-325
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• 2011

본 연구의 목적은 소아마비, 하지 근력약화 등의 장애인이 사용하는 잠금형 보조기무릎관절을 대체하기 위하여, 4절 연쇄 방식의 입각기조절형 보조기무릎관절을 개발하는 것이다. 본 연구에서 개발한 4절 연쇄 보조기무릎관절은 기존의 입각기조절형 보조기무릎관절과 달리, 기하학적으로 잠금상태가 제어되어 전기제어 부품 등이 필요하지 않으며 부피를 최소화하였다. 평가를 위하여, 소아마비로 진단받고 잠금형 보조기무릎관절을 사용해온 소아마비자가 대상자로 참여하였다. 대상자의 걸음걸이를 3차원으로 분석한 결과, 4절 연쇄 보조기무릎관절을 착용했을 때 입각기 동안 무릎관절의 신전이 유지되고 유각기 동안 무릎관절이 굴곡되며 자연스러운 걸음걸이를 보여주었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.132-135
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• 2002

In the present study, an electro-mechanical KAFO (knee-ankle-foot orthosis) which satisfies both the stability in stance and the knee flexion in swing was developed and evacuated in eight polio patients. A knee joint control algorithm suitable for polio patients who are lack of the stability in pre-swing was also developed and various control systems and circuits were also designed. In addition, knee flexion angles and knee moments were measured and analyzed for polio patients who used the developed KAFO with the three-dimensional motion analysis system. Energy consumption was also evaluated for the developed KAFO by measuring the movement of the COG (center of gravity) during gait. From the present study, the designed foot switch system successfully determined the gait cycle of polio patients and controlled knee joint of the KAFO, resulting in the passive knee flexion or foot clearance during swing phase. From the three-dimensional gait analysis for polio patients, it was found that the controlled-knee gait with the developed electro-mechanical KAFO showed the knee flexion of 40$^{\circ}$∼45$^{\circ}$ at an appropriate time during swing. Vertical movements of COG in controlled-knee gait (gait with the developed electro-mechanical KAFO) were significantly smaller than those in looked knee gait(gait with the locked knee Joint). and correspondingly controlled-knee gait reduced approximately 40% less energy consumption during horizontal walking gait. More efficient gait patterns could be obtained when various rehabilitation training and therapeutic programs as well as the developed electro-mechanical KAFO were applied for polio patients.

• 로봇학회논문지
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• 제12권2호
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• pp.124-131
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• 2017

This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.518-523
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• 2015

This paper proposes a gait phase classifier using a Recurrent Neural Network (RNN). Walking is a type of dynamic system, and as such it seems that the classifier made by using a general feed forward neural network structure is not appropriate. It is known that an RNN is suitable to model a dynamic system. Because the proposed RNN is simple, we use a back propagation algorithm to train the weights of the network. The input data of the RNN is the lower body's joint angles and angular velocities which are acquired by using the lower limb exoskeleton robot, ROBIN-H1. The classifier categorizes a gait cycle as two phases, swing and stance. In the experiment for performance verification, we compared the proposed method and general feed forward neural network based method and showed that the proposed method is superior.

• The Journal of Korean Physical Therapy
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• 제26권3호
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• pp.136-139
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• 2014

Purpose: The purpose of this study will demonstrate that relationship between scoliosis and gait factor and foot weight bearing in ambulation. Methods: Subjects were 40 elementary students. A normal control group consisted of a total of 20 children without any known musculoskeletal disorders and an AIS group of 20 children with mild AIS (defined by a Cobb angle between 10 and $25^{\circ}$) were recruited. Measurements were scoliometer screening test, Cobb angle, gait parameter (rate of swing/stance phase, gait velosity), foot weight bearing (entire, fore, hind). Results: Scoliometer screening test (P = 0.000) and X-ray Cobb angle (P = 0.000) significant difference of group which was significantly higher in the AIS group. Gait parameter not showed significant difference. Forefoot weight bearing was significantly higher in the AIS group than more normal group. Conclusion: It seems that the results of weight bearing analysis in ambulation may be used in modifying rehabilitation programs for individual needs of patients with idiopathic scoliosis.

• The Journal of Korean Physical Therapy
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• 제21권2호
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• pp.79-85
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• 2009

Purpose: This study examined the characteristics of gait in patients with chronic low back pain. Methods: The subjects were out-patients suffering from chronic low back pain at the department of physical therapy, B hospital in Seoul. Gait analysis was performed by dividing the subjects into two groups. The study and control group comprised 15 chronic low back pain patients and 14 healthy people, respectively. Gait analysis was performed using a VICON 512 Motion Analysis System to obtain the spatio-temporal and kinematic parameters. Results: First, there was a significant difference in the spatio-temporal parameters between the two groups (p<0.05). Second, the study group showed significant differences in the kinematic parameters during the stance phase (p<0.05). Third, there were significant differences in kinematic parameters in the study group during the swing phase (p<0.05). Conclusion: The gait pattern of patients with chronic low back pain is characterized by more rigid patterns. Compared to the control group, there was a decrease in the spatio-temporal parameters and kinematic parameters in patients with chronic low back pain. These findings are expected to play a role as basic data and to form a rehabilitation program for low back pain patients.

• 한국전문물리치료학회지
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• 제20권1호
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• pp.18-27
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• 2013

The purpose of this study was to compare the ring lock type knee-ankle-foot orthosis (KAFO) with newly developed 4-bar linkage KAFO on the gait characteristics of persons with poliomyelitis clinically. This 4-bar linkage is the stance control type KAFO which provide the stability during stance phase and knee flexion during swing phase. Two subjects participated in this study voluntarily. We provided the customized 4-bar linkage KAFO then asked the subjects to walk in level surface and stairs under the two different KAFO conditions. The characteristics of gait in the persons with poliomyelitis were evaluated using a 3D motion analysis system and force plate. Additionally 6 minute walk test for physiological cost index were conducted using pulse oximeter to measure the energy consumption. In the results of this study, the differences of 4-bar linkage KAFO compared with ring lock type KAFO are as follows: (1) Walking speed, stride length, and step length on level increased in subjects, (2) The gait symmetry was improved by generated knee flexion and decreased pelvic external rotation on level and stairs walking, (3) Decreased vertical excursion of center of mass and pelvic elevation during swing phase was decreased on level, (4) Knee extension moment, hip flexion moment, hip and knee internal rotation moment of non-braced limb were decreased on level walking, (5) Walking speed in 6-minute walk test was increased and physiological cost index was decreased. These findings indicate that 4-bar linkage KAFO compared with ring lock type KAFO is effective in enhancing pattern, endurance, and energy consumption in level surface and stairs walking.

• 웰빙융합연구
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• 제5권1호
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• pp.1-7
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• 2022

Purpose: This study aimed to investigate spatial and temporal features of motor control in an individual with hemiparesis during the curvilinear gait (CG) and proposed an exercise guideline. Research design, data and methodology: An individual aged 63 with hemiparesis by stroke disease was participated in the study. Autoencoder (AE) was used to extract four motor modules from eight muscle activities of the paretic leg during CG. After extraction, each module of four modules was operationally defined by numbering from M1 to M4 according to spatial and temporal features and compared with results reported in a previous study. Results: As a result, an individual with hemiparesis had motor module problems related to difficulty of weight acceptance (module 1), compensation for the weakness of ankle plantar flexor (module 2), a spastic synergistic pattern (module 3) and difficulty with transition from the swing to stance phase (module 4) in terms of spatial features. Also, a delayed activation timing of temporal motor module (module 2) related to the forward propulsion during CG was observed. Conclusions: Gait rehabilitation for the stroke will need to consider clinical significances in respect of the deterioration of motor module and provide the tailored approaches for each gait phase.

• 대한정형도수물리치료학회지
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• 제22권1호
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• pp.9-15
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• 2016

Background: This study was conducted to investigate the effects of unstable modified wall squat exercises accompanied by abdominal drawing-in on the gait variables of healthy adults. Methods: The total number of subjects was 30, and 15 were randomly placed in the training group (TG) and 15 in the control group (CG). To determine the gait variables of TG and CG, step length difference (SLD) stance phase difference (STPD), swing phase difference (SWPD), single support difference (SSD), and step time difference (STD) were measured using OptoGait, a gait analysis system. Results: When the pre-intervention and post-intervention results of TG and CG were compared, statistically significant differences in SLD, STPD, SWPD, SSD and STD of TG were seen. Conclusion: Unstable modified wall squat exercises accompanied by abdominal drawing-in might help reduce the deviation between left and right gait variables during walking.