• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.9
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• pp.1-12
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• 1996

In this paper, we propose an adaptive gait by which a quadruped walking robot can walk against external disturbances. This adaptive gait mechanism makes it possible for a quadruped walking robot to change its gait and accommodate external disturbances form various external environmental factors. Under the assumption that external disturbances can be converted to an external force acting on the body of a quadruped walking robot, we propose a new criterion for the stability margin of a waling robot by using an effective mass center based on the zero moment point under unknown external force. And for a solution of an adaptive gait against external disturbances, an method of altitude control and reflexive direction control is suggested. An algorithmic search method for an optimal stride of the quadruped mehtod, the gait stability margin of a quadruped walking robot is optimized in changing its direction at any instance for and after the reflexive direction control. To verify the efficiency of the proposed approach, some simulaton results are provided.

• The Journal of Korean Physical Therapy
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• v.32 no.5
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• pp.283-289
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• 2020

Objective: The purpose of this study was to determine the force of lower extremities, the change in walking ability on the ground by applying a walking training program based on perceptual learning to improve gait capacity of chronic stroke patients. Method: This study included Twenty-four patients with chronic stroke. Using a perceptual-based gait training, the experimental group trained twice a day for 30 minutes each time, 5 times a week, for a total of 8 weeks. The control group underwent ground gait training that excluded the element of a perceptual training for 30 minutes, 5 times a week for 8 weeks. Results: In the two groups, the maximum forefoot pressure after intervention was significantly different in both the LEPGT and GGT (p<0.05). The maximum midfoot pressure was significantly different in LEPGT (p<0.05). There was a significant difference in the maximum heel pressure after intervention between the two groups (p<0.05). As a result of comparing the change in step length and stride length after intervention in the two groups, there was a significant difference between the two groups (p<0.05). Conclusion: Both gait training programs was found that gait training based on perceptual learning and ground gait training were the training for improving the functional gait of stroke patient. Perceptual learning gait training utilizing intensive perceptual awareness was the training for improving gait capacity within the period than ground gait training.

• Journal of Korean Medical classics
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• v.20 no.4
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• pp.251-265
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• 2007

This study is a research on the etiology in Wu Youke's wenyi theory. In regard to the etiology of epidemic disease that had been spread on a very large scale at that time, Wu Youke denied the traditional theory which urged the irregular change of climate as the cause of epidemic disease, and proposed the concept of 'zaqi' which was considered by him to be something that could be the real cause of epidemic disease. And He treated the wenyi disease as something that has the same meaning with wenbing, so his concept on wenbing was basically the thing that treats 'zaqi' as the fundamental cause of wenbing and treats the concept of 'wen(溫)' as an environmental cause that could help activate the virulence of 'zaqi'. Such concept like this was the thing somewhat different from the traditional etiological theory that considers the change of climate as the principal cause of waigan(外感)-disease, and it must for the most part have been originated from the experience of Wu Youke himself. But this study, in contrast, based on the thing he denied the traditional theory on the irregular change of climate, has been done in the point of view that fundamental concept of his wenyi theory such as 'zaqi' was not only originated from his clinical experience but also from the influence of paradigm shift in the natural philosophy of that time. There had been so much change in cosmology and natural philosophy from the fundamental basis at that time, and the the most principal concept of it was that there always exists irregular faces in the change of nature. Such concept like this got into its stride from about 17th century, and it was expressed in the form of the severe criticism against the traditional natural philosophy. In regard to this, this study has outlined the academic thought of the leading scholars who made a significant progress in such a paradigm shift, and it includes the scholars like Wang Tingxiang, Wang Fuzhi, Hu Wei, Huang Zongxi, who played their role in the time of the latter period of Ming dynasty and the former period of Qing dynasty.

• Journal of Korean Physical Therapy Science
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• v.10 no.1
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• pp.90-101
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• 2003

Gait analysis can provide a better understanding of how the alignment of the lower limb and foot can contribute to force observed at the knee. Anatomic and mechanical factors that affect loading in the knee pint can contribute to pathologic change seen at the knee in degenerative pint disease and should be considered in treatment plan. The purpose of this study is to present the gait analysis data and to determine whether there is any relationships between alignment of the lower limb, foot progression angle and knee pint moments in elderly healthy women with 3-dimensional motion analyzer. The results were as follows; 1. Cadence showed 114.8 steps/min, gait speed showed 1.05 m/s, time per a stride showed 1.06 sec, time per a step showed 0.53 sec, single-supporting phase was 0.41 sec, double-supporting phase was 0.24 sec, stride length was 1.04 m, Step length was 0.56 m. 2. According to the parameters of kinematics, the maximal knee flexion angle through swing phase showed left $46.82^{\circ}$, right $40.19^{\circ}$ and the maximal knee extension angle showed left $-1.32^{\circ}$, right $2.01^{\circ}$. knee varus showed left $26.90^{\circ}$, right $30.93^{\circ}$. 3. Moment, one of kinetic parameters of knee pint the maximal flexion moment showed left 0.363. Nm/kg, right 0.464 Nm/kg and maximal extension moment showed left 0.389 Nm/kg, right 0.463 Nm/kg. The maximal. adduction moment showed left 0.332 Nm/kg, right 0.379 Nm/kg and the maximal internal rotatory moment showed left 0.13 Nm/kg, right 0.140 Nm/kg. 4. On sagittal plane, the maximal power of knee joint showed left 0.571 J/kg, right 0.629 J/kg. On coronal plane, the maximal power of knee joint showed left 0.11 J/kg, right 0.12 J/kg. On transverse plane, the maximal power of knee joint showed left 0.058 J/kg, right 0.072 J/kg. 5. The subject who had varus alignment of the lower extremity had statistically higher in knee adduction moment in mid stance phase. 6. The subject who had large foot progression angle had statistically lower in knee adduction moment in late stance phase. A relationship was observed between the alignment of the lower extremity and the adduction moment of the knee joint during stance phase. Hence, we need some research to figure, out the change of adduction moment according to the sort of knee joint osteoarthritis and the normal geriatrics as well. And we also require more effective, specific therapeutic program by making use of those background of researches.

• The Journal of the Society of Stroke on Korean Medicine
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• v.14 no.1
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• pp.31-39
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• 2013

■ Objectives The goal of this pilot study is to observe the change of gait pattern according to the clinical status in a patient with ataxic gait by cerebellar infarction. ■ Methods We measured the spatiotemporal gait parameters of a patient with ataxic gait four times, in which, first, the patient was not able to walk independently, second, able to walk independently, third, unable to walk independently by general tremor, and, last, able to walk independently after disappearing of general tremor. ■ Results When a patient with cerebellar ataxic gait was able to walk independently and the cerebellar tremor was disappeared, the change of gait pattern was that step and stride length decreased and total double support and stance phase increased. ■ Conclusion When different clinical characteristics were improved, the change of gait showed same pattern.

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.277-291
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• 2003

This study was designed to examine the kinematic factors in the phase during the marche fente motion. For this study, the subjects were 5 elite male fencing players. The direct linear transformation (DLT) method was used in calculating 3-D coordinate of the digitized body parts. The cubic spline function was used for smoothing and the kinematic data for displacement, velocity, angle variables were calculated for Kwon3d ver 2.1. And the following conclusions were drawn; 1. It show that the marche phase appeared to longer time than the pante phase In the performance time. For the fast attack, it showed that the subjects should be moving in a short stride width. 2. For a fast and stable movement posture in the marche phase, the vertical change of COG must be maintain the same position as possible, but all subjects appeared to decrease the COG because of a excessive the knee flection. 3. In the COG velocity change, all the subjects showed to the same change in both the marche and the fente phase. However in the attack extremity velocity, it increased velocity in order of upper arm, fore arm, and hand in the marche phase, but it showed different velocity among each subjects at the moment of stabbing. So that in order to do effective stabbing, they have to extend their upper extremity max and do faster the distal segment than the proximal segment. 4. It showed to take a fast and stable movement, because some subjects showed the big anteroposterior angle of the trunk flexed max shoulder angle and elbow angle of their attack arm and the other upper extremity.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.109-130
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• 2002

The purpose of this paper was to make a comparative analysis for the difference of the various kinematic variation which is occurred in the each situation when pitchers throw a straight and a curve ball. Four pitchers, who are two national team players and two high level pitchers, were selected among the right over hand pitchers of D university in the Busan for this paper. The data were analyzed by using 3D equipment. The results of the analysis which was about the elapsed time of the pitching, the movement of the body center-point, the highest height of the left knee, stride length, knee joint angle, shoulder joint angle, elbow joint angle and wrist joint angle in the each section(ST, LKU, HBP, LCF, MCP, BRP) were as follows : 1. Pitching time in the each section and step in the pitching for straight and curve ball was similar. The total elapsed time of the straight and curve ball was 1.78${\pm}$0.07sec and 1.77${\pm}$0.11sec in the order. 2. The position change of the body center to the Z(above below) direction did not show significant difference in the each situation of the section and step between pitching for the straight and curve ball. 3. Height of the left knee did not show significant difference as 125.38${\pm}$11.85cm and 124.95${\pm}$11.63m in the each pitching motion for straight and curve ball. The rate(%H) between height and stride length showed 68.42${\pm}$5.53(%H), 68.40${\pm}$5.45(%H) in the each pitching motion. 4. Pitching for curve ball showed longer stride length than pitching for straight ball that as the stride length was 140.35${\pm}$4.96cm and 144.8${\pm}$1.69cm. The rate(%H) between height and stride length showed 76.9${\pm}$3.77(%H), 79.39${\pm}$2.23(%H) in the each pitching motion. 5. Left knee joint angle did not show significant difference in the ST, LKU and HBP section in the each pitching motion. However, it was shown that knee joint angle was flexed much more in the LFC, MCP and BRP section in the pitching for curve ball. 6. Right shoulder joint angle did not show significant difference in the ST, LKU and HSP section. However, when pitches threw a curve ball in the LKU section. In the LFC section, the right shoulder joint angle was extended much more in the pitching for curve ball, and the angle was extended much in the MCP and BRP section in the pitching for curve ball than straight ball. 7. Right elbow joint angle did not show significant difference in the ST, LKU and HRP section in the two pitching motion. The angle had more flexion in the LFC and MCP section in the pitching for curve ball than the pitching for straight ball. The angle in the each pitching motion for straight ball and curve ball were extended by a narrow margin in the BRP section. 8. Right wrist joint angle was extended much more in the LFC and MCP section in the pitching for curve ball. In the BRP section, the angle was extended much more in the pitching for straight ball than curve ball.

• Physical Therapy Korea
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• v.5 no.2
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• pp.23-38
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• 1998

The objective of this study was to identify the effects of pelvic tilting exercise on gait patterns of hemiplegic patients. The subjects of this study were 31 hemiplegic in- and out-patients of the Rehabilitation Hospital, Yonsei University Medical Center, from September 24, 1997 through November 5, 1997. Pre- and post-treatment change in gait patterns were measured using a ink foot-print. The data were analyzed by the paired t-test, one-way ANOVA, and independent t-test. The findings were as follows: The difference in gait patterns between pre- and post-treatment was statistically significant, with an increase in gait velocity to 7.98 cm/sec post-treatment; an increase in cadence to 7.29 steps/min; a narrowing of the base of support to 1.33 cm; an increase in step length of 3.92 cm on the less affected side and 3.73 cm on the more affected side; an increase in stride length of 5.82 cm on the less affected side and 5.92 cm on the more affected side(statistically not significant in foot angle). In relation to sex, age, cause of stroke, and laterality of paralysis, the difference in gait patterns between pre- and post-treatment was not statistically significant. Where there was no significant difference of the effects of pelvic exercise regarding the degree of spasticity, the presence of a decrease in proprioception, and the duration of treatment. In conclusion, hemiplegic pelvic tilting exercise was found to have transmitting positive effect in improving gait patterns.

• Journal of Korean Neurosurgical Society
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• v.62 no.2
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• pp.131-135
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• 2019

In the circumstances of overflowing numbers of medical journals, progress of their own medical journal is one of the primary concerns of many medical societies. Among the 46-year-history of Journal of Korean Neurosurgical Society (JKNS), it undertook a period of important transition and preparation to take off for journal with international reputation during the period from 2001 to 2006. The overall process of manuscript handling, peer review, and editorial work has undergone systematic improvement. Workshops for authors, reviewer and editors were held, which were very helpful to improve the quality of submitted manuscript, peer review and editorial processing. Articles on the history, current status of the JKNS, citations and the change of proportion of types of articles were published, which provided insight about present condition and direction for further progress. It was changed into English journal in 2005. These efforts resulted in registration of the journal Chemical Abstract Service in 2005 and Science Citation Index Expanded in 2008 and SCOPUS in 2009. Now JKNS has become international journal, with about half of the submitted manuscripts from abroad, with increasing impact factor. Along with the effort of Korean Neurosurgical Society (KNS) members and support of KNS, dedication of Professor Dong Gyu Kim for the progress of JKNS is worth remembering, who served as Editor-in-Chief of JKNS during this period.

• Korean Journal of Applied Biomechanics
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• v.21 no.5
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• pp.595-602
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• 2011

The long jump motion of 8 finalist of men's long jump of IAAF World Championships Daegu 2011 were analysed and the kinematic characteristics of the technique were investigated. The kinematic characteristics of long jump motion of 8 finalist were as follows. In the run-up phase, the average length of 3, 2, and 1 stride were $2.21{\pm}0.08$ m, $2.46{\pm}0.18$ m, and $2.19{\pm}0.16$ m, respectively. The change in the height of the center of gravity was $0.09{\pm}0.02$ m. The average velocity of 3, 2, and 1 stride was $10.37{\pm}0.32$ m/s, $9.63{\pm}0.32$ m/s, and $10.69{\pm}10.69$ m/s, respectively. In the take-off phase, the horizontal velocity, the vertical velocity, the reduction of horizontal velocity was $9.00{\pm}0.37$ m/s, $3.04{\pm}0.27$ m/s, and $1.69{\pm}0.34$ m/s, respectively. The minimum knee angle and the take off angle was $157{\pm}6.57^{\circ}$ and $18.5{\pm}2.24^{\circ}$, respectively. In the flight phase, the flight time and the maximum height of the center of gravity was $0.82{\pm}0.05$ s, and $1.70{\pm}0.10$ m, respectively. In the landing phase, the landing length was $0.51{\pm}0.06$ m. The body angle, the knee angle, and the hip angle was $71{\pm}20.93^{\circ}$, $136{\pm}19.19^{\circ}$, and $85{\pm}9.58^{\circ}$, respectively. The kinematic characteristics of long jump motion with good record were shown as follows. The reduction of the horizontal velocity in the take-off phase was minimized while the velocity of the run-up were maximally maintained. The vertical velocity in the take-off phase was increased with rapidly extended knee and the high center of gravity.