• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.25 no.2
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• pp.21-29
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• 2019

Background: The purpose of this study is to investigate the effect of the combined exercise program on the static balance ability of the lumbar instability of adults. Methods: The experimental group was divided into two groups and randomly. The experimental group 1 (Exp 1) applied the combined exercise program for the lumbar stabilization exercise and strengthening exercises and the experimental group 2 (Exp 2) applied the combined exercises program for the lumbar stabilization exercises and active stretching exercises. Each experiment group performed exercise program for 4 weeks, 3 times a week, 30 minutes a day. Static balance ability was measured using GOOD BALANCE system. Results: As the comparing results of static balance ability, normal standing eye open was Ant-Post and Med-Lat showed significant differences in Exp 1 (p<.05). One leg left eye open was velocity moment showed significant differences in Exp 1 (p<.05). and one leg right eye open was Med-Lat showed significant differences in Exp 1 (p<.05). Conclusion: These results show that thoracic self mobilization is immediate effective on balance and gait ability. Thus, thoracic self mobilization will help recovery of balance and gait ability in acute stroke patients.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.69-73
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• 1987

In this paper the continuous static stable gait, kinematics and the basic control algorithm of the quadruped walking robot have been discussed. The control method described in this paper will be extended for the walking robot to walk on an uneven terrain.

• Journal of the Korean Data and Information Science Society
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• v.20 no.4
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• pp.661-672
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• 2009

This study was conducted to investigate whether mat exercise and field exercise have effectiveness on the balance and gait in older adults. Thirty subjects were participated in this study. And they were all randomly divided into mat exercise and field exercise group. To evaluate the effects of mat and field exercise, subjects were evaluated by using One Leg Stand test which was static balance test, and Berg Balance test which was dynamic balance test. Finally Gait pattern was assessed by using 3-dimensional gait analysis system. The assessment parameters were evaluated before, after 3 weeks, and after 6 weeks treatments. And we received a consent form from all subjects. The results of repeated measures analysis of variance showed that One Leg Stand, Berg Balance, Stride length, Cadence, Velocity were significantly increased after than before exercise in both groups. So we conclude that therapeutic exercise that is mat and field exercise has effectiveness on the balance and gait in older adults.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.23 no.1
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• pp.63-72
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• 2017

Background: The purpose of this case study was to investigate into the effect of complex exercise program on the postural change, gait and balance ability in elementary school students with forward head posture. Methods: Four patients with forward head posture were recruited. They were evaluated pre-treatment, and after 6weeks, using neck disability index (NDI), numeric pain rating scale (NPRS), balance ability, foot pressure (fore foot/rear foot peak pressure ratio, F/R ratio), gait ability (cadence, toe out angle, stance phase). Results: First, the angle of forward head posture (craniovertebral angle; CVA and cranialrotation angle; CRA) was decreased in all subjects. The NPRS and NDI were decreased in all subjects. Also, The cadence, toe out angle and F/R ratio were increased in all subjects. The stance phase of gait cycle was positively change in all subjects. Lastly, the static balance ability improved in all subjects. Conclusion: According to the results above, the complex exercise program for students with forward head posture can help improve the postural change, gait and balance ability. Also, the complex exercise program was able to select interventions depending on the patient's condition and the desired goal.

• Physical Therapy Rehabilitation Science
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• v.10 no.1
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• pp.55-63
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• 2021

Objective: The purpose of this study was to examine the effects of balance training with Functional Electrical Stimulation (FES) on balance and gait in patients with chronic stroke. Design: A cross over design Methods: Nine patients with stroke were recruited into this study. They were measuring their balance ability and gait ability. The intervention "A" included 4 weeks of balance training with Functional Electrical Stimulation (FES) for 40 m/d, 3 d/wk. Intervention "B" included 4 weeks of balance training with placebo Functional Electrical Stimulation (FES) for 40 m/d, 3 d/wk. Of the 9 patients who completed the study, 5 were randomly assigned to" group A-B", and 4 to group B-A. The crossover occurred after 4 weeks. Results: Following are the specific results of balance training with Functional Electrical Stimulation (FES) on patients with chronic stroke. First, patients who received treatment A showed improvement compared with patients who received treatment B in static balance. There were significant decreases in anterioposterior, mediolateral postural sway extension and velocity moment (p<0.05) with their eyes opened and closed conditions. Second, they had significantly improved in dynamic balance (p<0.05). Lastly, there were also improvement in their gait velocity and cadence (p<0.05). Conclusions: These findings suggest that, the Functional Electrical Stimulation (FES) combined with balance training more effectively improves the balance and gait ability, I'm convinced that it could be actively used in clinics added to the conventional physical therapy in the future.

• PNF and Movement
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• v.22 no.1
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• pp.113-128
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• 2024

Purpose: This study aimed to investigate the effects of eccentric training applied to the calf muscles on muscle tone, muscle strength, and gait variables in patients with chronic stroke. Methods: Twenty-two participants were divided into experimental (n=12; eccentric training) and control (n=10; static stretching and stretching board) groups. The participants completed 30-minute physical therapy sessions five times a week for three weeks. Calf muscle tone, muscle strength, and gait variables were measured using MyotonPRO, a hand-held dynamometer, and Optogait, respectively, before and after each intervention. Results: Two-way analysis of variance (ANOVA) indicated a significant interaction effect between measurement points and groups in frequency, stiffness, and decrement of the lateral gastrocnemius, medial gastrocnemius, and soleus muscles (p<.05). Paired t-tests showed that the experimental group exhibited significantly decreased frequency and stiffness scores for the lateral gastrocnemius, medial gastrocnemius, and soleus muscles (p<.05), as well as significantly increased decrement and muscle strength scores, gait speed, step length, and stride length (p<.05). Conclusion: The application of eccentric training to the calf effectively reduced muscle tone, increased muscle strength, and improved the gait speed, step length, and stride length of patients with chronic stroke.

• Journal of the Korean Society of Physical Medicine
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• v.14 no.1
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• pp.75-89
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• 2019

PURPOSE: This study measured the impact of a 12-week fall-prevention exercise program on balance, ambulatory ability, lower limb strength, and psychosocial characteristics in older adults diagnosed with dementia. METHODS: The participants comprised 31 older adults (9 men, 22 women) diagnosed with Alzheimer's or vascular dementia at a long-term care hospital located in Gunsan City. A fall-prevention exercise program was provided to the experimental group, while the control group was only provided with instruction and materials related to the fall-prevention exercise program. The participants were evaluated before the intervention, 6 weeks after the intervention, and 12 weeks after the intervention on static and dynamic balance abilities (using Timed Up and Go test: TUG, Tinetti-balance scale, one-leg standing test: OLS), gait (Tinetti-balance scale, 6-minute walk test: 6MWT), lower limb strength (sit to stand test; STS), and psychosocial characteristics (Short Form 36 Health Survey-Korean version, Korean Mini-Mental State Exam). RESULTS: An independent samples t-test and repeated measures analysis of variance were used for the statistical analysis. There were statistically significant improvements after the intervention (p<.05) in dynamic balance abilities (TUG and OLS using the left foot), gait (6MWT), and lower limb strength (STS) for the experimental group, but not for the control group. No difference was seen in psychosocial characteristics. CONCLUSION: Older adults with dementia who participated in the fall-prevention exercise program showed significant improvements in their static and dynamic balance abilities, lower limb strength, and ambulatory ability after the intervention.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.369-379
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• 2011

Purpose : The purpose of this study is to compare the initial effect of nerve mobilization (NM), static stretching (SS), and contract-relax (CR) techniques to find the best method in improving hamstring flexibility and gait function in patients with hemiplegia. Methods : Eleven patients with hemiplegia were included in this study. Passive knee extension (PKE) range of motion and the sit and reach (SR) test were used to measure hamstring flexibility, while timed up and go (TUG) and the 10m walking (10MW) test were used to measure the subject's gait. Measurements on each test were assessed prior to the experiment, immediately following the experiment, and 30 minutes after the experiment. Analysis of the results utilized a repeated measures analysis of variance to examine hamstring flexibility and the difference in walking ability. Results : The results suggest significant increases in NM, SS, and CR techniques as they relate to hamstring flexibility (p<.05) following (both immediate and 30 minutes post experiment) PKE range of motion and the SR test, but post-hoc showed no significant difference between the three techniques (p>.05). Additionally, the results suggest significant increases in NM, SS, and CR techniques as they relate to gait function (p<.05) following the TUG test, but found no significant difference in the 10MW test (p>.05). Post-hoc analysis between the three techniques suggests that only the NM technique significantly changed gait function. The time of TUG and 10MW test showed no significant difference between the three techniques before an experiment, just after an experiment, and 30 minutes following the experiment according to the measurement points in time (p>.05). Conclusion : This study suggests NM, SS, and CR techniques immediately improve hamstring length and flexibility while improving gait function in patients with hemiplegia.