• 한국운동역학회지
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• 제25권3호
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• pp.241-248
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• 2015

Objective : The purpose of this study was to investigate the theta on the components of ground reaction force according to the ground conditions during gait. Method : Six healthy women(mean age: 22 yrs, mean height: $166.14{\pm}2.51cm$, mean body weights: $56.61{\pm}4.58kg$) participated in this study. The medial-lateral GRF(Fx 1), anterior-posterior GRF(Fy 1, Fy 2), vertical GRF(Fz 1, Fz 2, Fz 3), and impact loading rate were determined from time function and frequency domain. Also, GRF theta were time function and forces. Results : Fx 1, Fy 1 and Fy 2 of stair descending showed significant statistically higher forces than that of level walking, and ascending. Fz 1 of stairs descending showed significant statistically higher forces than that of level walking and stairs ascending(theta $88.62^{\circ}$). Also, Fz 2 of level walking showed significant statistically higher forces than that of stairs ascending and descending(theta $65.78^{\circ}$). Fz 3 of stairs ascending showed significant statistically higher forces than that of level walking and stairs descending($65.26^{\circ}$). Impact loading rate of stairs descending showed significant statistically higher forces than that of level and ascending walking. The GRF showed similar correlation with GRF theta(r=.603) according to the ground conditions during gait. Conclusion : These results suggest that the GRF theta can be used in conjunction with a gait characteristics, prediction of loading rate and dynamic stability.

• The Journal of Korean Physical Therapy
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• 제25권1호
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• pp.23-28
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• 2013

Purpose: The purpose of this study was to examine the influence of a handrail (presence and position) on treadmill gait and balance in stroke patients during gait training. Methods: 39 patients with stroke (male 31, female 8) participated in this study. The training groups were classified into a no-handrail group (NHG), front handrail group (FHG), and bilateral handrail group (BHG). Each group comprised 13 subjects. The subjects were trained to walk in a straight path 30 minutes per day for 8 weeks. The Good Balance System was used to measure static balance and dynamic balance. To measure walking ability, timed up and go (TUG) was also assessed. Results: The NHG showed no significant differences in static balance, dynamic balance, and TUG. The FHG was significantly different in their medial-lateral speed of static balance, dynamic balance, and TUG. The BHG was significantly different in their static balance, dynamic balance, and TUG. Conclusion: These findings consider the effects of holding handrails concomitantly with changes in postural stability. We conclude that for training stroke patients, treadmill walking while holding handrails improves balance and gait more than treadmill walking without holding handrails. The resulting changes in muscle activity patterns may facilitate the transfer to a gait pattern. The results of this study suggest methods for training treadmill walking in stroke patients.

• 국제물리치료학회지
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• 제3권2호
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• pp.446-452
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• 2012

This study aims to examine the effects of taping of the ankle joint on the static and dynamic balance and gait ability of stroke patients. Twenty-six stroke patients receiving physical therapy at a hospital located in Gyeonggi-do were divided equally into a group that had taping in physical therapy and an ordinary physical therapy group. They exercised for 30 minutes each, 3 times per week for 8 weeks from June to August 2011. Romberg's eye open and eye closed tests, limits of stability(LOS), forward and back test, timed up and go test(TUG) and 10-meter gait velocity test were performed to evaluate static balance, dynamic balance, and gait ability, respectively, prior to and 8 weeks after the intervention. Differences within each group in relation to the lapse of time were compared by a paired t-test. Differences between the two groups were compared by an independent t-test. Regarding comparison of differences within each group, all tests resulted in significant changes in both groups after the intervention (p<.05). Comparison of differences between the two groups showed that taping in the physical therapy group had significantly better test results than the ordinary physical therapy group in all measured items(p<.05). The after effects of ankle taping on stroke patients are more efficient and effective than ordinary physical therapy alone in improving balance and gait ability.

• 한국산학기술학회논문지
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• 제14권1호
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• pp.294-300
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• 2013

이 연구는 요가운동이 뇌졸중 환자에게 자가 운동 프로그램으로의 가능성을 확인하고자 요가운동을 적용하여 정적균형, 동적균형, 보행속도를 측정하였다. 뇌졸중으로 편마비 진단을 받은 입원 환자 18명을 대상으로 대조군과 요가운동군에 각각 9명씩 배정하여 주 3회 60분씩 8주간 요가운동을 실시하였다. 정적균형은 Tetrax를 사용하여 안정성지수(무게중심의 이동)와 체중분포지수를, 동적균형은 functional reach test(FRT)와 dynamic gait index(DGI)를, 보행속도는 10미터 보행 검사를 실시하였다. 그 결과 요가운동군에서 무게중심의 이동과 체중분포의 안정성, FRT와 DGI의 유의한 향상을 보였다. 대조군에서는 유의한 차이를 보이지 않았다. 보행속도에는 두 군 모두 유의한 차이를 보이지 않았다. 이는 요가운동이 뇌졸중 후 균형능력이 상실된 환자에게 체계적인 자가 운동 프로그램으로 적용 가능하다고 사료된다.

• 한국임상수의학회지
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• 제36권2호
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• pp.123-125
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• 2019

A 12-year-old castrated Toy Poodle was referred with a continuous non-weight bearing lameness of right hind limb due to a traffic accident 9 years ago. Physical examination and radiographs revealed partial loss of right calcaneal bone, loss of Achilles tendon and disused muscular atrophy. Arthrodesis was performed to preserve the function of the right hind limb. Pan tarsal arthrodesis plate was applied medially with 2.7 mm cortical screws and 2.0 mm cortical screws. During fixation, cancellous bone chip was transplanted into the arthrodesis site. A bone union was confirmed 9 weeks after surgery. Furthermore, on the gait analysis, the weight-bearing of right hind limb was restored to 70% of the opposite hind limb. Arthrodesis can be used to treat more difficult and serious problems affecting the joints. In particular, arthrodesis is indicated in cases such as comminuted intraarticular fractures and irreparable injury of the calcaneal tendon apparatus in the hock joint. In this case, the pan tarsal arthrodesis provided stability to the hock joint and improved the gait by restoring severe chronic damage. In conclusion, we successfully treated a challenging disability of hock joint using pan tarsal arthrodesis to restore the legs that were non-weight bearing due to chronic injury by traffic accident and objectively ascertained the increased weight bearing by gait analysis.

• 로봇학회논문지
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• 제17권3호
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• pp.296-302
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• 2022

This paper proposes a center of plantar foot pressure (CoP) trajectory estimation method based on Gaussian process regression, with the aim to show robust results regardless of the regions and numbers of FSRs of the insole sensor. This method can bring an interpolation between the measurement points inside the wearable insole sensor, and two experiments are conducted for performance evaluation. For this purpose, the input data used in the experiment are generated in three types (13 FSRs, 8 FSRs, 5 FSRs) according to the regions and numbers of FSRs. First, the estimation results of the CoP trajectory are compared using Gaussian process regression and weighted mean. As a result of each method, the estimation results of the two methods were similar in the case of 13 FSRs data. On the other hand, in the case of the 8 and 5 FSRs data, the weighted mean varies depending on the regions and numbers of FSRs, but the estimation results of Gaussian process regression showed similar results in spite of reducing the regions and numbers. Second, the estimation results of the CoP trajectory based on Gaussian process regression during several gait cycles are analyzed. In five gait cycles, the previous cycle and the current estimation results are compared, and it was confirmed that similar trajectories appeared in all. In this way, the method of estimating the CoP trajectory based on Gaussian process regression showed robust results, and stability was confirmed by yielding similar results in several gait cycles.

• The Journal of Korean Physical Therapy
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• 제34권1호
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• pp.45-50
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• 2022

Purpose: The purpose of this study was to compare the spatiotemporal and kinematic gait parameters and muscle activity of the lower extremities between forward walking on sand (FWS) and backward walking on sand (BWS) in normal adults. Methods: This study was conducted on 13 healthy adults. Subjects performed FWS and BWS and the spatiotemporal and kinematic gait parameters of stride time, stride length, velocity, cadence, step length, stance, swing, double support, and hip range of motion (ROM), knee ROM were measured by a wearable inertial measurement unit system. In addition, the muscle activity of the rectus femoris (RF), biceps femoris (BF), tibialis anterior (TA), and gastrocnemius (GA) was measured. Results: The stride length, stride velocity, cadence, and step length in the BWS were significantly lower than FWS (p<0.05), and stride time was significantly greater (p<0.05). However, there was no significant difference in the ratio of stance, swing, and double support between the two (p>0.05). The kinematic gait parameters, including hip and knee joint range of motion in BWS, were significantly lower than FWS (p<0.05). The muscle activity of the RF in BWS was significantly higher than FWS (p<0.05), but the muscle activity of the BF, TA, GA did not show any significant differences between the two movements (p>0.05). Conclusion: A strategy to increase stability by changing the gait parameters is used in BWS, and this study confirmed that BWS was a safe and effective movement to increase RF muscle activity without straining the joints. Therefore, BWS can be recommended for effective activation of the RF.

• The Journal of Korean Physical Therapy
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• 제35권4호
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• pp.89-94
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• 2023

Purpose: This study investigates the impact of self-myofascial release using a foam roller on the quadriceps femoris for pelvic stability. We further compare the effects of a GRID surface Foam Roller (GFR), a Non-Vibration Foam Roller (NVFR), and a Vibration Foam Roller (VFR). Methods: Thirty healthy adults (15 males, 15 females) participated in this study and were randomly assigned to one of three conditions: GFR, NVFR, or VFR. Participants walked at self-selected speeds with an arm sling before and after foam roller stretching. The analyzed gait parameters included pelvic tilt, pelvic obliquity, and pelvic rotation. Results: In the NVFR and VFR groups, there was a Significant differences were obtained in the pelvic tilt between pre-test and post-test values (p<0.05) in the NVFR and VFR groups, but no significant difference was observed in the GFR group (p>0.05). Comparing the amount of change between the three groups exhibited a significant decrease in pelvic tilt in the NVFR and VFR groups compared to the GFR group (p<0.017). No significant differences were found in pelvic obliquity and pelvic rotation (p>0.05) in all groups. Conclusion: While walking, the use of a VFR for self-myofascial release results in pelvic alteration by reducing the anterior pelvic tilt. We propose that a foam roller can be utilized to enhance pelvic stability during gait.

• 한국전자통신학회논문지
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• 제10권9호
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• pp.1039-1048
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• 2015

본 논문에서는 곤충형 다리 구조를 갖는 4족 로봇의 효율적인 계단 보행을 위해 유전 알고리즘(Genetic Algorithm: GA)에 기반한 계단 보행 방법을 제안한다. 제안한 방법에서는 우선 계단 보행을 위한 요소와 도달 영역을 정의한다. 또한 GA 수행을 위한 유전자와 적합도 함수를 설정하고, GA를 이용하여 최소 이동 거리와 최적 에너지 안정도 여유(Energy Stability Margin: ESM)을 갖는 4족 로봇의 착지 지점을 탐색하여 걸음새 궤적을 생성한다. 마지막으로, 컴퓨터 시뮬레이션을 통해 본 논문에서 제안한 계단 보행 방법의 효용성 및 우수성을 검증한다.

• 한국항행학회논문지
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• 제11권2호
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• pp.209-216
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• 2007

본 논문에서는 보행 로봇의 자세 안정화 및 동적 걸음새를 구현하였다. 10개의 RC 서보모터가 로봇 관절에 사용되었고, 각 로봇의 관절은 어떤 걸음새 동작에도 충분히 움직일 수 있게 하였다. 각 관절 궤적은 3차 스플라인 보간법에 의해 생성되며, 궤적의 안정성은 로봇 모델링에 의한 ZMP(Zero Moment Point)를 이용하여 입증하였다. 또한 복잡한 구조와 표현을 피하기 위해 각 가속도를 이용한 ZMP방법을 구현 하였고, 로봇의 안정 상태를 측정하기 위해 기울기 센서와 자이로 센서가 사용되었다. 10개의 서보모터 제어, 궤적 생성, ZMP 보상, 센서 측정 등 과 같은 대부분의 계산 과정은 DSP에서 이루어지며, PC에서는 단순히 로봇의 상태, 데이터 처리 등의 모니터링에 이용하였다.