• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• Korean Journal of Applied Biomechanics
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• v.18 no.4
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• pp.49-57
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• 2008

The purpose of this study was to determine the effects of 12-week elastic resistance exercise for the elderly on the magnitude of frequency and variability of ground reaction force signals. To this aim, total 12 elderly women aged in their 70 were participated in this study and asked to do a 12-week elastic resistance exercise program. FFT(fast Fourier Transform) was used to analyze the frequency domain analysis of the ground reaction forces's signals and an accumulative PSD (power spectrum density) normalized by support phase of walking was calculated to reconstruct the certain signals. To estimate the gait stability between the before and after exercise, values of variability were determined in a coefficient of variance. The magnitude of frequency and variability analysis for media-lateral signal revealed significantly less after exercise (p<.05). In contrast, variability of this signal's frequency that have used to evaluate the local stability during walking exhibited significantly greater after exercise(p<.05). In summary, magnitude frequency and variability of media-lateral ground reaction force's signal were significantly changed after a 12-week elastic resistance exercise.

• Korean Journal of Veterinary Research
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• v.42 no.4
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• pp.537-543
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• 2002

The purpose of the present study was to investigate structural stability of extensive laminectomy and the effect of subcutaneous fat autograft on restricting formation of postlaminectomy membrane (fibrous tissue). Eighteen healthy dogs of both sexes and of mixed breeding were divided into 6 groups : (1) unilateral hemilaminectomy (group H) on 3rd, 4th and 7th vertebrae ; (2) modified dorsal laminectomy (group D) on 3rd, 4th and 7th vertebrae. Hemilaminectomies were carried out incontinuously at 16 sites in 4 dogs, then subcutaneous fat autografts (group F) were applied to 8 laminectomy sites and no treatment (group C) was assigned to 8 laminectomy sites, too. Operating time of group H ($30.9{\pm}10.4$ minutes) was significantly shorter (p<0.05) than that of group D ($43.1{\pm}12.2$ minutes), but surgical hemorrhage of group H is severer than that of group D. General states, such as standing, gait, defecation and urination, were normal. Upper motor neuron/lower motor neuron signs were not found and superficial/deep pain, proprioception and anal sphincter tone were normal. Gross postmortem findings were similar in all groups. The laminectomy sites of groups H and D were filled with fibous connective tissue at 4 months after operation and histopathological abnormalities of spinal cord were not found. One of eight laminectomy sites in group F was filled with fibrous tissue at 2 months after operation, but all operating sites of group C were covered with fibrous tissue. The present study indicated that extensive laminectomy on 7 vertebrae, using unilateral hemilaminectomy and modified dorsal laminectomy technique, maintained structural stability and subcutaneous fat autograft was effective on reducing the formation of fibrous membrane in laminectomy sites.

• Journal of the Korean Society of Physical Medicine
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• v.8 no.1
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• pp.1-9
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• 2013

PURPOSE: This study compared the effects of dual motor task training and simple task training on the balance of subacute stroke patients. METHODS: A total of 23 subacute stroke patients participated in the study. The subjects were allocated randomly to two groups: an experimental group and a control group. Both groups received conventional treatment for 50 minutes, 5 times per week for 6 weeks. In addition, the experimental group stacked blocks, moved catch cups, and moved rings while standing and gait. To evaluate the effects of the exercises, subjects were evaluated by using the balance system and the timed get up and go test(TUG) for balance measurement. The data was analyzed using a paired t-test and independent t-test to determine the statistical significance. RESULTS: The experimental group showed a significant decrease on the medial-lateral and anterior-posterior stability index compared to the control group (p<.05) for the simple task and a significant decrease on the medial-lateral and anterior-posterior stability index compared to the control group for the dual task. In addition, the experimental group showed a significant increase in TUG time compared to the control group (p<.05). CONCLUSION: These results support the perceived benefits of dual motor task training to augment the balance of subacute stroke patients. Therefore, dual motor task training is recommended for subacute stroke patients.

• PNF and Movement
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• v.17 no.2
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• pp.311-319
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• 2019

Purpose: This study was conducted to determine the structural change in knees caused by quadriceps angle and the muscle activity in lower limbs. Indirect intervention was provided by using taping for stability in the ankle joints, which affected patellofemoral pain. Methods: The subjects in this study were 20 patients with patellofemoral pain who visited ${\bigcirc}{\bigcirc}{\bigcirc} $ Hospital in Busan. The visual analogue scale measured the dynamic quadriceps angle and the degree of pain felt by the patients while walking down stairs, which was a known factor of patellofemoral pain. In addition, muscle activities in the rectus femoris, vastus lateralis, vastus medialis, tibialis anterior, peroneus longus, and biceps femoris, which affect the knees and ankles, were measured using surface electromyography. The muscle activities were converted into %RVC for this study. The data obtained in this study were analyzed with the Wilcoxon signed-rank test using the SPSS Ver. 25.0 statistical program. The significance level ${\alpha}$ was 0.05. Results: The study results showed that the pain and dynamic quadriceps angle were significantly reduced statistically when applying the calcaneus fixation taping (p<0.05). Muscle activity in the lower limbs was significantly decreased in the vastus medialis, vastus lateralis, and tibialis anterior (p<0.05). Conclusion: The summary of the study results verified that the calcaneus fixation taping reduced the pain and dynamic quadriceps angle by providing stability in the ankle joints. It also produced efficient movement due to the difference in lower-limb muscle activity.

• Physical Therapy Korea
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• v.12 no.4
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• pp.1-6
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• 2005

Community-based group exercise programs for people with chronic stroke are relatively uncommon in Korea. In addition, it is currently not known whether a community-based group exercise program is effective or not. The purpose of this study was to evaluate an 8 week community-based functional exercise program for its effects on balance performance and occupational performance in persons with chronic stroke. Twenty-five community-dwelling individuals with stroke participated in this program. Outcome of the program was assessed by the Berg Balance Scale and the Canadian Occupational Performance Measure (COPM). The functional exercise program lasted for eight weeks, with a 1-hour program twice per week and it consisted of mobility, stability, balance, functional strength, and gait training. The subjects were trained by one physical therapist but were under one-to-one supervision from students. The data of sixteen individuals who scored more than 24 on the Mini-Mental State Examination (MMSE) were analyzed. There was a significant effect both in terms of the COPM Performance Score & the Satisfaction Score (p=.002) and with the Berg Balance Score (p=.001). It was found that a short-term community-based exercise program could improve both performance of activities and balance. Further, all subjects reported that they were satisfied with this program.

• The Journal of Korean Physical Therapy
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• v.25 no.6
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• pp.379-385
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• 2013

Purpose: The purpose of this study is to compare kinematics on lower limbs between stair walking with high heel and barefoot in healthy adult women. Methods: 18 healthy adult women were recruited in this study. The subjects performed stair ascent and descent with high heels and barefoot. The experiment was conducted in random order and repeated three times for each stair walking with high heels and barefoot. The movements of lower limb joints were measured and analyzed using a three-dimensional analysis system. Results: The ankle, knee, and hip flexion angles on the sagittal plane exhibited statistically significant differences between stair ascent and descent with high heels and barefoot. The pelvic forward tilt angles showed statistically significant differences only during stair ascent. The ankle inversion, hip abduction and pelvic lateral tilt angles on the frontal plane showed statistically significant differences between stair walking with high heels and barefoot. On the transverse plane, the hip rotation angles showed statistically significant differences between the high-heeled and barefoot gait during stair ascent and descent. However, the pelvic rotation angles showed no statistically significant differences. Conclusion: Therefore, wearing high-heeled shoes during stair walking in daily life is considered to influence lower limb kinematics due to the high heel, and thus poses the risks of pain, and low stability and joint damage caused by changes in the movement of lower limb joints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.136-141
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• 2002

This paper presents a design and a control of a biped walking RGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new AGO type with servo motors. The gait of a biped walking RGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking RGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking AGO-robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.238-243
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• 2002

This paper presents a design and a control of a biped walking AGO-robot and dynamic walking simulation for this system. The biped walking RGO-robot is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a biped walking AGO-robot depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the biped walking AGO-robot. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to train effectively with a biped walking RGO-robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1513-1519
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• 2000

This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.