• Journal of the Korean Society of Physical Medicine
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• v.15 no.1
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• pp.123-132
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• 2020

PURPOSE: This study examined the effects of both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation on the balance and gait of stroke patients. METHODS: Ten patients with stroke were divided randomly into two groups of five patients each who met the selection criteria. The training was conducted five times a week, for 60 minutes. The experimental group received both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation while the control group received general physical therapy with functional electrical stimulation. RESULTS: The timed Up-and-Go (TUG) test result was statistically significant after the intervention in the experimental group (p<.041). Berg Balance Scale (BBS) assessment was statistically significant after the intervention in the experimental group (p<.047) and between the experimental and control groups (p<.012). The cadence assessment was statistically significant after intervention in the experimental group (p<.031) and between the experimental and control groups (p<.015). The stride length assessment was not statistically significant after intervention in the experimental group and between the experimental and control groups. Gait velocity assessment was statistically significant after the intervention in the experimental group (p<.031) and between the experimental and control groups (p<.015). CONCLUSION: Both lower extremities proprioceptive neuromuscular facilitation training with functional electrical stimulation had positive effects on the balance and gait of stroke patients.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.289-296
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• 2011

The purpose of this study was to quantify the biomechanical characteristics of the ground reaction force(GRF) during the Taekwondo's Apkubi, one of the basic movement in Taekwondo and the walking. The GRF profiles under the stance foot of Apkubi movement and walking were directly measured in sample of 20 healthy older persons. In the anterior-posterior and vertical direction, the GRF of the Apkubi movement reached to the peak braking force at 10% of the normalized stance time percent and the peak driving force at 90% of stance time, but that of the walking reached to the peak braking force at 20% of stance time and the peak driving force at 80% of stance time. In vertical force, the GRF of the walking showed two peak values, but that of the Apkubi movement seemed three peak values. Moreover the first peak vertical force was significantly(t=6.085, p<.001) greater in the walking(about 1.8 times of body weight) than the Apkubi(about 1.4 times of body weight). The walking velocity was affected significantly(over p<.05) by the braking impulse, the peak braking force and the first peak vertical force. Futhermore the peak braking force in the Apkubi showed a significant effect on the Apkubi's stride length(p<.01). So, we concluded that the braking force after the right touch down, the stance foot on the ground contributed to move the leg forward.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.6
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• pp.1235-1241
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• 2012

In this paper, each driving motor for leg joints on a robot is controlled by estimating the direction of the legs measuring each joint angle and attitude angle of robot. We used quadruped working robot named TITAN-VIII in order to carry out this experimental study. 4 load cells are installed under the bottom of 4 legs to measure the pressed force on each leg while it's walking. The walking experiments of the robot were performed in 8 different conditions combined with duty factor, the length of a stride, the trajectory height of the foot and walking period of robot. The validity of attitude control for quadruped walking robot is evaluated by comparing the pressed force on a leg and the power consumption of joint driving motor. As a result, it was confirmed that the slip-condition of which the foot leave the ground late at the beginning of new period of the robot during walking process, which means the attitude control of the robot during walking process wasn't perfect only by measuring joint and attitude angle for estimating the direction of the foot.

• The Journal of Korean Physical Therapy
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• v.26 no.5
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• pp.296-301
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• 2014

Purpose: The purpose of this study was to investigate the effect of strengthening exercises of hip abductors on muscle strength and ambulation for patients with ACL reconstruction. Methods: The subjects were randomly assigned to the intervention group (general exercise plus strengthening of hip abductors) or the control group (general exercise without the strengthening of hip abductors). Both groups participated in a six-week exercise protocol after the surgery for ACL reconstruction. The knee strength test (quadriceps, hamstring, hip abductor) and gait analysis were performed in pretest and post-test. Results: Muscle strength was measured using the Biodex system III model (Biodex Medical System, Inc, NY, US). The results showed no significant difference in knee strength (quadriceps, hamstring) between the two groups (p>0.05), however, there was a significant difference in hip abductors (p<0.05). The gait analysis was measured with Gaitrite system (CIR System Inc, US). Results of comparison between groups showed a significant increase in the step length of both groups. (p<0.05), and there was a significant difference in the affected leg of the intervention group(p<0.05). Conclusion: Exercise of hip abductors for patients with ACL reconstruction provides significant benefits with respect to improvement of muscle strength in hip abductors, increasing the stride. This result indicates that a training program designed for ACL reconstruction patients should include strengthening of the hip abductor. We think that further study is needed to determine the relationship of hip muscles and knee joint for patients with ACL reconstruction.

• The Journal of Korean Physical Therapy
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• v.25 no.5
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• pp.239-245
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• 2013

Purpose: Osteoarthritis occurs in many different joints of the body, causing pain, stiffness, and decreased function. The knee is the most frequently affected joint of the lower limb. The aim of this study was to investigate the differences of biomechanics between independent gait and anterior walker dependent gait of patients with osteoarthritis of the knee. Methods: Lower limb joint kinematics and kinetics were evaluated in 15 patients with knee osteoarthritis when walking independently and when walking with an anterior walker. Participants were evaluated in a gait laboratory, with self-selected gait speed and natural arm swing. Results: When walking with a dependent anterior walker, participants walked significantly faster (p<0.01), using a longer stride length (p<0.01), compared to independent gait. When walking with a dependent anterior walker, participants exhibited significantly greater knee flexion/extension motion (p<0.01) and lower knee flexion moment (p<0.05) compared to independent gait. When walking with a dependent anterior walker, participants showed significantly greater peak ankle motion (p<0.01), ankle dorsiflexion/plantarflexion moments (p<0.01), and ankle power generation (p<0.05) compared to independent gait. Conclusion: These biomechanical properties of gait, observed when participants walked with a dependent anterior walker, may be a compensatory response to impaired knee function to allow sufficient power generation for propulsion. Therefore, rehabilitative strategies for patients with osteoarthritis of the knee are needed in order to improve not only knee function but also hip and ankle function.

• Journal of Korean Physical Therapy Science
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• v.8 no.2
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• pp.961-965
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• 2001

The aim of this study is to present the basic reference data of age and specipic gait parameters for Korean Adult. The basic gait parameters were extracted from 20 Adult, 10 men and 10 women, 21 to 24 years of age using VICON 512 Motion Analyzer. The temporal gait parameters and kinematic parameters of Korean Adult similar to other western reference data. The results were as follows: 1) The mean Cadence of the male to the female were 113.5 steps/min to 117.6 steps/min. 2) The mean Walking Speed of the male to the female were 1.30 m/s, to 1.27 m/s. 3) The mean Stride Length of the male to the female were 1.35 m, to 1.30 m. 4) The mean maximal angles of pint on the pelvic tilt motion for different male to the female were $9.80^{\circ}$ to $7.75^{\circ}$. (p<0.05) 5) The mean maximal angles of pint on the hip flexion motion for different male to the female were $22.62^{\circ}$ to $27.65^{\circ}$. (p<0.05) 6) The mean maximal angles of pint on the knee flexion motion for different male to the female were $55.78^{\circ}$ to $55.49^{\circ}$. (p>0.05) 7) The mean maximal angles of pint on the ankle dorsiflexion motion for different male to the female were $12.47^{\circ}$ to $13.39^{\circ}$. (p>0.05).

• Journal of Korean Physical Therapy Science
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• v.12 no.4
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• pp.33-41
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• 2005

The purpose of this report was to describe the gait pattern and parameters of the complicated bilateral amputee with right transtibial and left tarsometatarsal amputation. Using a Vicon 370 three dimensional gait analysis system, the gait analysis was performed at pre and post-test. Treadmill Training with 15 degree, incline was practiced for 8weeks, 3times per week. In linear parameters, the Velocity, Stride length and Single limb support were increased than pre-test. but Cadence and Double limb support were less post-test than pre-test. In kinematics, the maximal pelvic tilt angle showed right side $21.87^{\circ}$, left side $20.67^{\circ}$ at pre-swing phase, and decreased as compared with pre-test. Especially, the inimal hip flexion angle showed right side $-6.83^{\circ}$, left side $1.52^{\circ}$ at pre-swing phase and increased as compared with pre-test. The maximal knee flexion angle disclosed right side $2.66^{\circ}$, left side $21.71^{\circ}$ at stance phase, and decreased as compared with pre-test. In kinetics, the hip extension moment on initial contact stage was right side 0.938NM/Kg, left side 0.09NM/Kg, which was impaired compared with normal person.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.61-71
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• 2006

The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{\circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{\circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{\circ}$, $9.22^{\circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.

• Physical Therapy Korea
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• v.22 no.3
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• pp.81-90
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• 2015

This study aimed to determine the effects of Rhythmic Auditory Stimulation (RAS) using music and a metronome on the gait of stroke patients. 13 female and 15 male volunteers were randomly allocated to two groups: namely a group to receive RAS using music and a metronome group (the experimental group; $n_1=14$) and a group to receive RAS using a metronome only (the control group; $n_2=14$). The affected side was the left side in 15 subjects and the right side in 13 subjects. The mean age of the subjects was 56.6 years, and the mean onset duration of stroke was 8.6 months. Intervention was applied for 30 minutes per session, once a day, 5 times a week for 4 weeks. To measure the patients' gait improvement, we measured gait velocity, cadence, stride length, double limb support using GAITRite, body center sway angle using an accelerometer, and Timed Up-and-Go test. Functional Gait Assessment were conducted before and after the experiment. The paired t-test was used for comparisons before and after the interventions in each group. Analysis of covariance was used for comparisons between the groups after the interventions. Statistical significance was set at ${\alpha}=.05$. Within each of the two groups, significant differences in all of the dependent variables before and after the experiment (p<.05) were observed. However, in the comparison between the two groups, the experimental group showed more significant improvements in all dependent variables than the control group (p<.05). Our results also suggest that in applying RAS in stroke patients, the combination of music and a metronome is more effective than using a metronome alone in improving patients' gait.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.3 s.303
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• pp.1-10
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• 2005

This paper proposes a novel fault-tolerant gait planning of a hexapod robot considering kinematic constraints. 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. It is shown that the conventional fault-tolerant gait of a hexapod robot for forward walking on even terrain may be fallen into deadlock, depending on the configuration of the failed leg. For coping with such deadlock situation, a novel fault-tolerant gait planning is proposed. It can avoid deadlock by adjusting the position of the foot trajectory, and has the same leg sequence and stride length as those of the conventional fault-tolerant gait. To demonstrate the superiority of the proposed scheme, a case study is presented in which a hexapod robot, having walked over even terrain before a locked joint failure, could avoid deadlock and continue its walking by the proposed fault-tolerant gait planning.