• Journal of International Academy of Physical Therapy Research
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• v.8 no.1
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• pp.1090-1094
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• 2017

This study investigated the effects of indirectly applying proprioceptive neuromuscular facilitation (PNF) to the scapular adductor muscles of stroke patients on their scapular movements and walking ability. Five patients who were diagnosed with stroke participated in this study as a single group. PNF patterns were applied to the scapulae anterior elevation and posterior depression patterns and upper limbs patterns of the patients in side lying and sitting positions together. The data were analyzed with a paired t-test in order to identify within-group differences in the measurements before and after the intervention. The scapular movements of the upper and lower parts, weight bearing and walking speed were significantly improved in the stroke patients after the application of PNF (p<0.05). These results suggest that PNF training effective in improving the scapular movements and walking ability in patients with stroke.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.751-758
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• 2016

The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.

• Journal of the Korean Society of Physical Medicine
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• v.15 no.1
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• pp.1-9
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• 2020

PURPOSE: Many patients with stroke have difficulties in walking with foot-drop. Various types of ankle-foot orthoses (AFOs) have been developed, but their weight needs to be reduced with the assistance of the ankle dorsiflexor. Therefore, an elastic AFO (E-AFO) was devised that not only improves the stability and flexibility of the ankle but also assists with ankle dorsiflexion while walking. This study examined the effects of an E-AFO, on the walking patterns of foot-drop patients with stroke. METHODS: Fourteen patients walked with and without an E-AFO, and the gait parameters were assessed using the GAITRite system. The spatiotemporal data on the gait patterns of stroke patients with foot-drop were compared using paired t-tests; the level of statistical significance was set to α<.05. RESULTS: No significant differences were observed in the velocity (p=.066) and affecte+d step length (p=.980), but the affected and less-affected stance (p=.022, p=.002) and swing time (p=.012, p=.005) were significantly different. The E-AFO produced a significant difference in the less-affected step length (p=.032). CONCLUSION: The E-AFO has a significant effect on the walking patterns of individuals with foot-drop and stroke. The E-AFO could be a useful assistive device for gait training in stroke patients.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.133-140
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• 2012

In this paper, we suggest a lifelike pattern generator for a quadruped walking system with a head, a tail, four legs and a torso. The system looks like a giant dinosaur which stands over 7 meters tall with its legs over 2 meters long. We focus on its lifelike naturalness. Thus, generating logical patterns in harmony with head-body-tail patterns and quadrupedal locomotion patterns makes you feel that the quadruped walking system is alive. The basic patterns of four legs and a body are obtained from a 3D graphic animation, which is made and captured from various motions of similar species in existence since the giant dinosaurs are exterminated. The dinosaur-like mechanism also is designed from bone and joint structures of quadrupedal animals. The lifelike pattern generator based on fuzzy logic could generate lifelike motions according to the dinosaur-like mechanism and the basic patterns. A series of computer simulations and experimental implements show that the pattern generator makes the quadruped walking system lifelike.

• Fashion & Textile Research Journal
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• v.11 no.6
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• pp.911-917
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• 2009

The purpose of this study was to investigate muscle activity of the lower limbs when walking in jeans in order to obtain basic information for development of new jeans patterns with excellent movement adaptability. Using three types of jeans (basic, medium, and slim) with different ease on hip, knee circumference, and crotch length, and two different types of shoes, Electromyogram (EMG) of the lower limbs muscle was measured for four healthy subjects walking on treadmills and stairs. EMG of vastus lateralis, semitendinous, tibialis anterior and medial head of gastrocnemius muscles was measured. The muscle activity was assessed in RMS (Root Mean Square) value of the EMG. On the treadmill in sneakers, only the vastus lateralis muscle showed a significant difference in RMS value depending on patterns. Basic and medium jeans allowed higher muscle activity than trunks of slim jeans did. On the treadmill in high heels and slim jeans, the RMS values of all muscles were significantly smaller than in basic jeans, whereas no significant differences were shown while in trunks or medium jeans. On the stairs either in sneakers or in high heels, no significant differences were shown between all muscle activities for all types of jeans. On the treadmill, greater fatigue was induced in all muscles from walking in high heels than in sneakers for all jeans patterns. When walking on the stairs wearing either type of shoes, however, the effect of jeans pattern on muscle activities was different from muscle to muscle.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.8
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• pp.1231-1239
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• 2015

We developed a robot that has four limbs, each of which has the same kinematic structure and has 6 degrees of freedom. The robot is 600mm high and weighs 4.3kg. The robot can perform walking and manipulating task by using the four limbs selectively. The robot has three walking patterns. The first one is biped walking, which uses two rear limbs as legs and two front limbs as arms. The second one is biped walking with supporting arms, which is basically biped walking but uses two arms as supporting legs for increasing stability of the robot. The last one is quadruped walking, which uses all the four limbs as legs. When a task for the robot is given, the robot approaches the task point by selecting an appropriate walking pattern among three walking patterns and performs the task. The robot has many degrees of freedom and is a redundant system for a three dimensional task. We propose a redundancy resolution method, in which the robot’s translational move to the task point is modeled as a prismatic joint and optimal solutions are obtained by optimizing some performance criteria. Several simulations are performed for the validity of the proposed method.

• Journal of Biomedical Engineering Research
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• v.26 no.3
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• pp.145-150
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• 2005

A new gait detection system using both FSR (force sensing resistor) sensors and a gyrosensor was developed to detect various gait patterns. FSR sensors were put in self-designed shoe insoles and a gyrosensor was attached to the heel of a shoe. An algorithm was also developed to determine eight different gait transitions during four gait phases: heel-strike, foot-flat, heel-off and swing. The developed system was evaluated from nine heathy mans and twelve hemiplegic patients. Healthy volunteers were asked to walk in various gait patterns: level walking, fore-foot walking and stair walking. Only the level walking was performed in hemiplegic patients. The gait detection system was compared with a optical motion analysis system and the outputs of the FSR sensors. In healthy subjects, the developed system detected successfully more than $99\%$ for both level walking and fore-foot walking. For stair walking, the successful detection rate of the system was above$97\%$. In hemiplegic patients, the developed system detected approximately 98% of gait transitions. The developed gait phase detection system will be helpful not only to determine pathological gait phases but also to apply prosthetics, orthotics and functional electrical stimulation for patients with various gait disorders.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.6
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• pp.88-95
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• 2020

In this paper, we propose a new arm swing walking pattern-based walking safety system for safe walking of elderly pedestrians. The proposed system is a walking safety system for elderly pedestrians using haptic-based devices such as smart bands and smart watches, and arm swing-based walking patterns to solve the problem that it is difficult to recognize the fall situation of pedestrians with the existing walking patterns of lower limb movements. Use. The arm swing-based walking pattern recognizes the number of steps and the fall situation of pedestrians through the swing of the arm using the acceleration sensor of the device, and creates a database of the location of the fall situation to warn elderly pedestrians when walking near the expected fall location. It delivers a message to provide pedestrian safety to the elderly. This system is expected to improve the safe walking rights and environment of the elderly.