• 한국전문물리치료학회지
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• 제13권4호
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• pp.79-86
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• 2006

The purpose of the current experiment was to describe interlimb coordination when swing limb conditions are being manipulated by constraining step length or by adding a 5 or 10 pound weight to the swing limb distally. Subjects were asked to begin walking with the right limb to land on the primary target (normal step length) that is 10 cm in diameter. However, if, during movement, the light was illuminated, then the subject had to step on one of the secondary targets (long and short step length). These three step length conditions were repeated while wearing a 5 pound ankle weight and then when wearing a 10 pound ankle weight. Ground reaction force (GRF) data indicated that there were changes in the forces and slopes of the swing and stance Fx GRFs. Long stepping subjects had to increase the propulsive force required to increase step length. Consequently, swing and stance toe-off greatly increased in the long step length condition. Short step length subjects had to adequately adjust step length, which decreased the speed of gait initiation. Loading the swing limb decreased the force and slope of the swing limb. Swing and stance toe-off was longest for the long step length condition, but there was a small difference of temporal events between no weight and weight condition. It appears that subjects modulated GRFs and temporal events differently to achieve the peak acceleration force of the swing and stance limb in response to different tasks. The findings from the current study provide preliminary data, which can be used to further investigate how we modulate forces during voluntary movement from a quiet stance. This information may be important if we are to use this or a similar task to evaluate gait patterns of the elderly and patient populations.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1418-1423
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• 2004

관절형 로봇은 바퀴구동로봇에 비해 인간과 비슷한 형태를 갖추고 있어 친화성이 높고 관절로 인하여 자유도가 높으며 접지점을 임의로 설정할 수 있다. 또한 접지위치와 본체와의 상대위치를 자유로이 설정할 수 있으며 관절을 매니플레이터로서 사용할 수도 있는 장점을 가지고 있다. 이에 반해 많은 자유도를 가지고 있어 기구가 복잡하고 이동속도가 바퀴구동로봇에 비해 늦으며 이동시 진동이 일어나기 쉽고 로봇이 넘어지지 않도록 하는 특별한 제어가 필요하게 된다. 많은 생물들의 기본다리인 4족형 구조는 동적안정을 유지하면서 이동을 계속할 수 있고, 또 보행중에도 기구적으로 쓰러짐을 회피할 수 있는 완전보행을 실현하는 최소한의 관절수로 구성되어 있는 보행형태이다. 이러한 보행실험을 위해 4족 보행로봇인 TITAN-VIII을 이용하여 Trot 보행 알고리즘을 연구하여 보행 실험을 행하였다.

• 대한기계학회논문집B
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• 제35권11호
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• pp.1243-1248
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• 2011

본 연구에서는 한국인 표준체형과 유사한 사람의 의료 영상 자료를 이용하여 인체 골격계 모델을 만들었다. 이를 동역학 해석 상용 소프웨트어인 $RecurDyn^{TM}$에 탑재시켜 인체 시뮬레이션 모듈을 개발하였고, 노인의 보행 동작해석을 통해 모델을 검증하여 보행기(elderly walker) 사용 유무에 따른 앉기-서기 및 보행을 분석하였다. 노인이 보행기를 사용하였을 때 앉기-서기 동작 시 하지관절 기구학의 변화는 미비하였고, 보행 시 각 관절의 가동범위가 조금 줄었고 동작시간이 상당히 길어졌다. 또한 근전도 해석결과 일부 발목 주변 근육들과 햄스트링 근육에서 근활성치가 줄거나 활성시간이 줄었다. 이러한 변화는 보행기를 통해 보행할 때 하지의 기여도가 감소했기 때문이라고 생각되었다. 본 연구를 통해 얻어진 시뮬레이션 기술은 여러 가지의 생체역학 연구에 널리 활용될 것으로 생각된다.

• 한국산학기술학회논문지
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• 제14권1호
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• pp.199-205
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• 2013

본 연구는 네 가지의 가방 휴대방법에 따라 세 가지 가방의 무게를 달리하여 보행의 변화를 분석하고자 시행하였다. 20명의 건강한 성인이 연구에 참여하였다. 첫 번째 조건은 한쪽 어깨에 가방을 메고 보행하였고, 두 번째 조건은 한쪽으로 가로질러 가방을 매고 걸었다. 세 번째 조건은 양쪽 어깨에 가방을 메고 걸었고, 네 번째 조건은 한쪽 손으로 가방을 들고 걸었다. 각 네 가지 조건에 모든 대상자가 참가하였고, 오른쪽 신발에 SmartStep의 깔창을 깔고 오른쪽 발목에는 압력제어장치를 묶었다. 모든 대상자는 각각 4가지 조건에서 2.5 kg, 5 kg, 7.5 kg의 무게를 지닌 가방을 휴대하여 10 m를 걸었다. 각 조건에서 2.5 kg, 5 kg, 7.5 kg의 가방의 무게에 따라 입각기 비율, 유각기 비율과 보행속도는 통계학적으로 유의한 차이가 있었다.

• Journal of Korean Biological Nursing Science
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• 제23권1호
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• pp.72-82
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• 2021

Purpose: This study used a mixed methods research design in an attempt to verify the effects of robot-assisted rehabilitation on the gait ability of stroke patients with hemiplegia, and thereby further understand the benefits and challenges of stroke patients' experiences relying on robot-assisted rehabilitation. Methods: An exploratory sequential mixed methods study design was used in order to combine both quantitative and qualitative data. For the quantitative data collection, a total of 30 stroke patients with hemiplegia were recruited from one rehabilitation hospital. Qualitative data were collected through individual interviews using semi-structured questionnaires for a group of 15 patients who were currently undergoing robot-assisted rehabilitation. The data were analyzed through qualitative content analysis. Results: As a result of the quantitative analysis, there were significant differences between the two groups in terms of daily living activity patterns, total number of steps, and average walking speed. As a result of the qualitative analysis, the four main themes derived consisted of, 'curiosity about the usage of robot-assisted rehabilitation,' 'pleasure experienced while using the robots,' 'insufficient information about robots,' and 'a lack of education about robot-assisted rehabilitation.' Conclusions: Robot-assisted rehabilitation had a significant effect on the walking ability of stroke patients with hemiplegia. Additionally, stroke patients with hemiplegia experienced difficulty during the course of their robot-assisted rehabilitation, due to a lack of sufficient information on correct usage techniques. These quantitative and qualitative findings could provide the basic foundation for the development of an educational program on robot-assisted rehabilitation.

• 대한화상학회지
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• 제23권2호
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• pp.31-36
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• 2020

Purpose: Scar contracture influence the outcome of burn patients significantly. This study aims to investigate the feasibility of robot-assisted training for the lower extremity rehabilitation of burn patients. Methods: This pilot study was conducted on 7 burn patients for 8 weeks between January 2019 and November 2019. Two of 7 patients withdrew from this study because one had skin abrasion on the legs which thigh fastening devices were applied on and the other was not participate in the assessment at 4 weeks after training. Final 5 patients received gait training with SUBAR^® and numeric rating scale (NRS), 6-minutes walking test, and range of motion in flexion and extension of knee and ankle joint were evaluated before training, 4 weeks and 12 weeks after training. Results: The subjects had a mean age of 51.8±98 years, mean total burn surface area of 30.8±13.7%, mean duration from injury to 1^st assessment of 102.8±39.3 days. Anyone of 5 patients did not have musculoskeletal or cardiovascular side effects such as increased or decreased blood pressure or dizziness. The significant improvement in NRS, gait speed, and range of motion in knee extension and ankle plantarflexion after robotic training (all P<0.05). Conclusion: Robot-assisted training could be feasible for the rehabilitation of burn patients and it could improve muscle strength and range of motion in lower extremities, and gait function.

• 한국건축시공학회지
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• 제15권1호
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• pp.133-141
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• 2015

바닥의 미끄럼 저항은 보행자 안전을 위해 반드시 필요한 성능이다. 본 연구는 실제 인간의 미끄럼과 잘 대응하는 미끄럼 시험장치를 개발하기 위한 기초적 연구로서, 지면 마찰력(RCOF)과 표면 거칠기(Rz) 및 3가지 미끄럼 저항계수(C.S.R, BPN, SCOF) 간의 상관성을 분석하였다. 보행 속도가 증가할수록 보간 거리, 보폭, 분당 보행 수 모두 증가하며, 보행 속도와 RCOF 간에는 유의한 상관성이 있었다. 그러나 RCOF와 각 미끄럼 저항계수 간에는 상관성이 거의 없기 때문에 RCOF만으로는 바닥의 미끄럼 저항 특성을 파악하기 힘들다.

• Journal of Biosystems Engineering
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• 제32권5호
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• pp.339-347
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• 2007

A hexapod walking robot had been developed for gathering information in the field. The developed robot was $260{\times}260{\times}130$ ($W{\times}L{\times}H$, mm) in size and 14.7 N in weight. The legs had nineteen degrees of freedom. A leg has three rotational joints actuated by small servomotors. Two servomotors placed at ankle and knee played the roles of vertical joint for up and down motions of the leg and the other one placed at coxa played the role of horizontal joint for forward and backward motions. In addition, a servomotor placed at thorax between the front legs and the middle legs played the role of vertical joint for pumping the two front legs to climb stair or inclination. Walking motion of the robot was executed by tripod gait. The robot was controlled by manual remote-controller communicated by an infrared ray. Two controllers were equipped to control the walking of the robot. The sub-controller using PIC microcomputer (Microchips, PIC16F84A) received the 16 bit command signal from the manual remote controller, decoded it to 8bit and transmitted it to the main microcomputer (RENESAS, SH2/7045), which controlled the 19 servomotors using the PWM command signals. Walking speeds were controlled by adjusting the period of command cycle and the stride. Forward walking speed were within 100 cm/min to 300 cm/min. However, experimental walking speed had the error of 4-40 cm/min to compare with the theoretical one, because of slippage of the leg and the circular arc motion of servomotor of coxa.

• 한국응용과학기술학회지
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• 제36권4호
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• pp.1349-1357
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• 2019

이 연구의 목적은 코어 저항 운동이 농업 여성노인들의 근감소증 지표에 미치는 영향을 보고자 하였다. 이 연구에 참여한 피검자는 65세 이상의 천안시 거주 농업 여성노인 15명과 통제군 여성 15명으로 하였다. 코어 운동군은 주 2회 60분간 코어 강화 운동을 실시하였고, 종속변인인 근감소증 지표로는 악력, 의자 앉았다 일어서기, 근육의 면적과 단기운동수행력으로 4m 보행, 2.44m 걷기 및 400m 걷기를 실시하였다. 코어 저항 운동 결과 의자 앉았다 일어서기의 유의한 개선을 보였으나 근단면적에서는 집단 간에 유의한 차이를 보였다. 또한 단기운동수행 능력 중 4m 보행속도에서 유의한 상호 작용과 2.44m 왕복걷기와 400m 걷기에서는 유의한 개선을 보이는 것으로 나타났다. 이상과 같이 코어 저항 운동은 근육의 활성화로 인해 하체근육 및 단기 운동수행능력을 개선을 가져오는 것으로 판명되었다.

• 한국운동역학회지
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• 제24권3호
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• pp.287-293
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• 2014

The purpose of this study was to investigate the effects of Hoehn-Yahr scale on the activation of lower-extremity muscles during walking. Electromyography (EMG) analysis was carried out on 36 patients with Parkinson's disease in the off phase of the medication cycle. We recorded EMG signals of the tibialis anterior (TA), medial gastrocnemius (MG), lateral gastrocnemius (LG), soleus (SOL), rectus femoris (RF), vastus lateralis (VL), semitendinosus (ST) and biceps femoris (BF) using Noraxon 16 channels EMG system during walking at preferred speed. Rectified EMG signals were normalized to reference voluntary contractions (RVC) over a gait cycle at the preferred speed, allowing for an assessment of how the activity was distributed over the gait cycle. Compared to the H & Y Scale 1, H & Y Scale 3 exhibited greater activation of the vastus lateralis during mid-stance and greater activation of the medial gastrocnemius during terminal swing. Compared to the H & Y Scale 1, H & Y Scale 2 and 3 exhibited less activation of the tibialis anterior during initial swing. We conclude that the more Hoen & Yahr Scale increase, the more abnormal lower-extremity muscles activation.