• 대한의용생체공학회:의공학회지
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• 제35권2호
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• pp.26-34
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• 2014

Little information is available about the characteristics in revolution gait of hemiplegic elderly, which is frequently represented in daily life. It is also hard to elucidate purely the characteristics due to hemiplegia because of no consideration of aging factors. The aim of study is to identify the alteration characteristics of lower extremity joint angles in both straight and revolution gaits together due to hemiplegia through comparing healthy with hemiplegic elderly. Following Institutional Review Board approval, twelve healthy and hemiplegic elderly were participated and the center of body mass (COM) and lower extremity joint angles were measured during straight and revolution gaits using a computer-aided video motion capture system. The results showed that the gait characteristics were generally altered in both straight and revolution gaits due to hemiplegia (p < 0.05). The gait characteristics were then different between the straight and revolution gaits each other. This study may be valuable by identifying for the first time the alterations of the lower extremity joint angles in both straight and revolution gaits due to pure hemiplegia through comparing healthy elderly with hemiplegic elderly.

• Physical Therapy Rehabilitation Science
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• 제3권1호
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• pp.55-62
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• 2014

Objective: To study the effects of gait training with additional weight and gait training with non-additional weight on balance ability and gait ability in patients with chronic stroke through comparative analysis. Design: Randomized controlled trials. Methods: The subjects were divided randomly into two groups: additional weight group (AWG, n=12), and non-additional weight group (NAWG, n=10). Both groups received general physical therapy for 30 min in 1 session, 5 sessions per week during 6 months. The AWG practiced gait training with additional weight of 0.1 and 0.5 kg for 20 min a day, 3 days per week for 6 months and the NAWG practiced gait training with non-additional weight for 20 min a day, 3 days per week for 6 months. Patients in both groups were instructed to walk as fast as they could along a 35 m long track (straight for 20 m and curved for 15 m). Patients walked with their hemiplegic side on the inside of the track while a physical therapist followed along to instruct patients to maintain a straight posture. Balance ability was tested with the Functional Reach Test, the Timed Up and Go test, and the Berg Balance Scale, and gait ability was tested with GAITRite. The results of balance and gait ability were analyzed before and after interventions. Results: A significant increase in FRT, TUG, BBS was seen in both groups after intervention (p<0.05). A significant increase in gait ability was seen in the AWG after intervention (p<0.05). For balance and gait ability, the results from the AWG was significantly improved compared with the NAWG (p<0.05). Conclusions: Gait training with additional weight improves balance ability and gait ability in stroke patients, this gait training method is effective and suitable for stroke patients to increase the ability of functional performance.

• Physical Therapy Rehabilitation Science
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• 제8권3호
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• pp.141-145
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• 2019

Objective: The purpose of this study was to compare walking conditions (straight line and curved path) on walking patterns in persons who had experienced hemiplegic stroke and to determine whether if they adapt their walking pattern and performances according to changes in environmental conditions. Design: Cross-sectional study. Methods: Forty-four hemiplegic stroke survivors participated in this study. This study measured walking performance in three different walking conditions, such as straight walking, the more-affected leg in the inner curve walking, and less-affected leg in the inner curve walking conditions, and a 2-dimentional gait analysis system was used as a primary measurement. This study also measured secondary clinical factors including the Timed Up-and-Go Test, the Trunk Impairment Scale, and the Dynamic Gait Index. Results: After analyzing, cadence and step length of the less-affected side, stride length in the more-affected side, and stride length in less-affected side were significantly different among the three different walking conditions in this study (p<0.05), but other temporospatial parameters were not significant. Cadence was the largest in the straight walking condition. Step length in the less-affected side, stride length in the more-affected side, and stride length in less-affected side were also the longest in the straight walking condition. Conclusions: The results of the study suggest that hemiplegic stroke survivors show walking adaptability according to changes in walking demands and conditions, and moreover, cadence and step and stride lengths were significantly different between straight and curved walking conditions.

• 인간행동과 음악연구
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• 제5권1호
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• pp.1-17
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• 2008

본 연구는 신경학적 음악치료의 한 방법인 RAS가 편마비 환자의 회전과 직선보행 시 보행요소에 어떠한 영향을 미치는지를 살펴보고자 하였다. 연구는 음악치료소거와 개입의 차이를 4주간 비교하는 반복측정 설계로 디자인되었고 측정 보행요소에 대해 21가지로 세부 항목화 하였다. 연구의 대상은 보행훈련이 필요한 4명을 물리치료사에게 의뢰받았으며, 사용된 음악은 행진곡, 가곡을 중심으로 연구자가 선택하였다. 각 세션은 워밍업, RAS보행훈련, 마무리로 구성되었다. RAS보행훈련에서 사용된 음악들은 음악치료처치 전 측정한 각 환자의 본래 보행속도에 맞추어진 빠르기로 제공되었다. 속도는 점차적으로 빠르게 제공하였으며 각 세션이 50분간 진행되었다. 연구결과 음악치료 소거구간(A)보다 음악치료처치구간(B)에서 보행능력이 증가됨을 관찰할 수 있었고, 다른 치료가 음악치료와 병행될 때 환자들의 보행능력 향상에 더욱 긍정적인 영향을 준다는 선행연구를 지지하는 결과를 보였다. 또한 본 연구는 RAS음악치료처치가 직선보행 시 뿐만 아니라 회전보행 시 보행능력 향상에 도움을 준다는 것을 보여준다는 의의를 가진다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• 한국운동역학회지
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• 제17권4호
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• pp.191-200
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• 2007

The purpose of this study was to analyze the foot-pressure distribution of trekking boots for assessing their functionality. Subjects participated in this study included 10 university male students who had no injury experience in lower limbs and a normal gait pattern. The size of all subjects was 270mm. Five models of trekking boots, most popular in Korea (A, B, C, D & E company), were selected for the test. Using the PEDAR-X system and PEDAR-X insoles, 5 different walking stages were analyzed for the foot-pressure distribution: (a) straight gait; (b) $45^{\circ}$ turn gait; (c) $25^{\circ}$ uphill gait; and (d) $25^{\circ}$ downhill gait. Results of the foot-pressure distribution and functionality on each stage were as follow; 1. Straight gait - In case of Max ground reaction force, mean plantar pressure and Max plantar pressure, there was not a distinct tendency; however, products manufactured by E and A company showed relatively lower pressure distribution. 2. $45^{\circ}$ turn gait - In Max ground reaction force, mean plantar pressure and Max plantar pressure, there wasn't a distinct tendency; however, products manufactured by E and A company showed relatively lower pressure distribution. Results also revealed that the products manufactured by E and A company were superior to those by other companies in terms of functionality. 3. $25^{\circ}$ uphill gait - In Max ground reaction force, mean plantar pressure and Max plantar pressure, there wasn't a distinct tendency; however, products manufactured by E and C company showed relatively lower pressure distribution. Results also revealed that the products manufactured by E and C company were superior to those by other companies in terms of functionality. 4. $25^{\circ}$ downhill gait - In Max ground reaction force, Mean plantar pressure and Max plantar pressure, there wasn't a distinct tendency; however, products manufactured by E company showed relatively lower pressure distribution. Results also revealed that the products manufactured by E company were superior to those by other companies in terms of functionality. Overall, five pairs of trekking shoes selected in this study showed the excellent performance in several conditions. The findings above may provide us with the important criteria for choosing trekking boots.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.141-148
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• 2012

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

• The Journal of Korean Physical Therapy
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• 제26권6호
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• pp.398-402
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• 2014

Purpose: This study was carried out in order to verify actual applicability of mental practice in the clinical field by applying it to Parkinson disease patients. Methods: : The number of subjects was three and they were aged between 65 and 69. One year or longer period has passed since they were diagnosed with Parkinson disease. The baseline A consisted of three sessions. After the baseline period, the researcher applied mental practice to the subjects once per day, for 20 minutes per each time, for 10 sessions. The no-intervention withdrawal phase was composed of three sessions. Outcome measures 10 meter walking test(10MWT), timed up and go (TUG) test, 8-figure walk test (8FWT). Results: All results indicated that 10 MWT, TUG, F8WT was improved when compared mental practice(B) to pre base line(A). base line(A) after mental practice intervention(B) was also sustained. Conclusion: As a result of the mental practice, we can know that it helps straight gait, dynamic balance, curved gait to improve.

• The Journal of Korean Physical Therapy
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• 제28권2호
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• pp.71-76
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• 2016

Purpose: This study was conducted to assess the effects of robot-assisted gait training with visual feedback on gait, balance, and balance confidence in patients with chronic stroke. Methods: Thirty subjects with chronic stroke were randomly assigned to two groups: the experimental group (n=15) and the control group (n=15). The experimental group performed robot-assisted gait training for 30 minutes and the control group performed gait training with assisted devices training for 30 minutes after both groups performed conventional physical therapy for 30 minutes. Both groups performed the therapeutic interventions for 5 days per week, for a period of 4 weeks. For assessment of the 10 m walking test (10 MWT), Figure of 8 on the walk test (F8WT), Timed-Up and Go test (TUG), and Berg Balance Scale (BBS) were used to test the gait and balance, and the Korean version of the Activities-specific Balance Confidence Scale was used to test the balance confidence. Results: The experimental group showed significant improvement in the 10 MWT and the K-ABC (p<0.05), and the control group showed significant improvement in the BBS and the TUG (p<0.05). In four measurements, there were significant differences between the two groups (p<0.05), and the control group showed significant improvement in the F8WT at pre and post intervention (p<0.05). Conclusion: This study demonstrated that Robot-assisted gait training with visual feedback is an effective intervention for improving straight gait abilities and balance confidence, while the control group showed some improvement in curve gait and balance. Thus, we suggest both Robot-assisted gait training with visual feedback and gait training with assisted devices training exercise as a therapeutic intervention in chronic stroke rehabilitation.

• 재활복지공학회논문지
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• 제9권2호
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• pp.161-168
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• 2015

본 논문은 자체 개발한 관성측정장치의 가속도, 각속도, 지자기계 데이터를 이용하여 보행거리를 측정하는 시스템 개발에 관한 것이다. 관성센서들의 오프셋 및 이득 오차를 최소화하기 위하여 9축의 자유도를 갖는 지그를 제작하였으며, 이를 이용하여 캘리브레이션을 수행하였다. 보행거리의 정확한 측정을 위하여, 기울기 하강법을 이용하여 가속도계의 중력성분 제거 및 보행패턴 분석을 통한 드리프트 성분을 제거하였다. 최종적으로 보정된 가속도 데이터의 이중적분을 통하여 보행거리를 측정하였다. 시스템의 성능 평가를 위하여, 실내 직선 10m 직선 보행에 대하여 캘리브레이션 전, 후 오차 개선 비율를 비교하였으며, 간단한 보행에 대해 Vicon과의 비교 실험을 수행하였다. 직선 보행에 대해서는 x, y, z축 각각에 대하여 $31.4{\pm}14.38%$(mean${\pm}$S.D.), $78.64{\pm}10.84%$ 및 $69.71{\pm}26.25%$ 개선이 되었음을 확인하였으며, Vicon과의 비교 실험 결과 x, y, z축 각각에 대하여 0.1m, 0.16m, 0.12m의 오차를 얻을 수 있었다.