• 한국정보통신학회논문지
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• 제16권6호
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• pp.1235-1241
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• 2012

본 논문에서는 4족 보행로봇 TITAN-VIII의 모든 관절각과 로봇 본체의 자세각을 계측하여 발바닥의 위치를 추정하고 각 관절의 구동모터를 제어하였다. 네 발바닥에 로드셀을 설치하여 주기, 한주기당 이동거리와 발바닥이 들어 올려지는 높이를 변경하여 8가지 서로 다른 조건에서 보행실험을 수행하고 보행 중 발바닥에 가해지는 힘과 각 관절을 구동하는 모터의 소비전력을 구한 후 비교 분석하여 자세제어의 타당성을 평가하였다. 분석결과 새로운 주기가 시작되는 구간에서 발바닥이 지면을 늦게 떠나는 슬립현상을 확인했는데 이것은 관절각과 본체의 자세각을 계측하여 발바닥의 위치를 추정하고 보행계획을 수립하여 제어하는 것만으로 보행 중 발생하는 로봇 본체의 기울어짐과 기계적인 에러를 완벽하게 극복하지 못함을 확인했다.

• The Journal of Korean Physical Therapy
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• 제26권5호
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• pp.296-301
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• 2014

Purpose: The purpose of this study was to investigate the effect of strengthening exercises of hip abductors on muscle strength and ambulation for patients with ACL reconstruction. Methods: The subjects were randomly assigned to the intervention group (general exercise plus strengthening of hip abductors) or the control group (general exercise without the strengthening of hip abductors). Both groups participated in a six-week exercise protocol after the surgery for ACL reconstruction. The knee strength test (quadriceps, hamstring, hip abductor) and gait analysis were performed in pretest and post-test. Results: Muscle strength was measured using the Biodex system III model (Biodex Medical System, Inc, NY, US). The results showed no significant difference in knee strength (quadriceps, hamstring) between the two groups (p>0.05), however, there was a significant difference in hip abductors (p<0.05). The gait analysis was measured with Gaitrite system (CIR System Inc, US). Results of comparison between groups showed a significant increase in the step length of both groups. (p<0.05), and there was a significant difference in the affected leg of the intervention group(p<0.05). Conclusion: Exercise of hip abductors for patients with ACL reconstruction provides significant benefits with respect to improvement of muscle strength in hip abductors, increasing the stride. This result indicates that a training program designed for ACL reconstruction patients should include strengthening of the hip abductor. We think that further study is needed to determine the relationship of hip muscles and knee joint for patients with ACL reconstruction.

• The Journal of Korean Physical Therapy
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• 제25권5호
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• pp.239-245
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• 2013

Purpose: Osteoarthritis occurs in many different joints of the body, causing pain, stiffness, and decreased function. The knee is the most frequently affected joint of the lower limb. The aim of this study was to investigate the differences of biomechanics between independent gait and anterior walker dependent gait of patients with osteoarthritis of the knee. Methods: Lower limb joint kinematics and kinetics were evaluated in 15 patients with knee osteoarthritis when walking independently and when walking with an anterior walker. Participants were evaluated in a gait laboratory, with self-selected gait speed and natural arm swing. Results: When walking with a dependent anterior walker, participants walked significantly faster (p<0.01), using a longer stride length (p<0.01), compared to independent gait. When walking with a dependent anterior walker, participants exhibited significantly greater knee flexion/extension motion (p<0.01) and lower knee flexion moment (p<0.05) compared to independent gait. When walking with a dependent anterior walker, participants showed significantly greater peak ankle motion (p<0.01), ankle dorsiflexion/plantarflexion moments (p<0.01), and ankle power generation (p<0.05) compared to independent gait. Conclusion: These biomechanical properties of gait, observed when participants walked with a dependent anterior walker, may be a compensatory response to impaired knee function to allow sufficient power generation for propulsion. Therefore, rehabilitative strategies for patients with osteoarthritis of the knee are needed in order to improve not only knee function but also hip and ankle function.

• 대한물리치료과학회지
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• 제8권2호
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• pp.961-965
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• 2001

The aim of this study is to present the basic reference data of age and specipic gait parameters for Korean Adult. The basic gait parameters were extracted from 20 Adult, 10 men and 10 women, 21 to 24 years of age using VICON 512 Motion Analyzer. The temporal gait parameters and kinematic parameters of Korean Adult similar to other western reference data. The results were as follows: 1) The mean Cadence of the male to the female were 113.5 steps/min to 117.6 steps/min. 2) The mean Walking Speed of the male to the female were 1.30 m/s, to 1.27 m/s. 3) The mean Stride Length of the male to the female were 1.35 m, to 1.30 m. 4) The mean maximal angles of pint on the pelvic tilt motion for different male to the female were $9.80^{\circ}$ to $7.75^{\circ}$. (p<0.05) 5) The mean maximal angles of pint on the hip flexion motion for different male to the female were $22.62^{\circ}$ to $27.65^{\circ}$. (p<0.05) 6) The mean maximal angles of pint on the knee flexion motion for different male to the female were $55.78^{\circ}$ to $55.49^{\circ}$. (p>0.05) 7) The mean maximal angles of pint on the ankle dorsiflexion motion for different male to the female were $12.47^{\circ}$ to $13.39^{\circ}$. (p>0.05).

• 대한물리치료과학회지
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• 제12권4호
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• pp.33-41
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• 2005

The purpose of this report was to describe the gait pattern and parameters of the complicated bilateral amputee with right transtibial and left tarsometatarsal amputation. Using a Vicon 370 three dimensional gait analysis system, the gait analysis was performed at pre and post-test. Treadmill Training with 15 degree, incline was practiced for 8weeks, 3times per week. In linear parameters, the Velocity, Stride length and Single limb support were increased than pre-test. but Cadence and Double limb support were less post-test than pre-test. In kinematics, the maximal pelvic tilt angle showed right side $21.87^{\circ}$, left side $20.67^{\circ}$ at pre-swing phase, and decreased as compared with pre-test. Especially, the inimal hip flexion angle showed right side $-6.83^{\circ}$, left side $1.52^{\circ}$ at pre-swing phase and increased as compared with pre-test. The maximal knee flexion angle disclosed right side $2.66^{\circ}$, left side $21.71^{\circ}$ at stance phase, and decreased as compared with pre-test. In kinetics, the hip extension moment on initial contact stage was right side 0.938NM/Kg, left side 0.09NM/Kg, which was impaired compared with normal person.

• 한국운동역학회지
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• 제16권4호
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• pp.61-71
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• 2006

The purpose of this study was to compare kinematic characteristics on the limbs at 3 different walking speed during the energy and the normal walking. Eight subjects performed energy walking and normal walking at the slow speed(65 beats/min), the normal speed(115beats/min), the fast speed(160 beats/min). The 3-d angle was calculated by vector projected with least squares solution with three-dimensional cinematography(Motion Analysis corporation). The range of motion was calculated on the trunk, shoulder, elbow, hip, knee joint. The results showed that stride length was no difference of the two walking pattern. The duration of support phase was also no difference of the two walking pattern. The range of motion of shoulder joint significantly increased in the sagittal and frontal planes, and the range of motion of elbow joint significantly increased as the energy walking. The range of motion of hip joint had no significant difference in the any planes in changing of walking speed. But the most remarkable difference of the two walking patterns revealed at the trunk. The range of flexion/extension angle had significant increasing $2.36^{\circ}$ at normal speed, and the range of the right/left flexion angle had significant increasing below $4^{\circ}$ at the 3 walking speed, and The range of rotation angle had significant increasing $7.35^{\circ}$, $9.22^{\circ}$, respectively at the normal and slow speed. But there was no significant difference of range of motion at the hip and knee joints between energy walking and normal walking.

• 한국전문물리치료학회지
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• 제22권3호
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• pp.81-90
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• 2015

This study aimed to determine the effects of Rhythmic Auditory Stimulation (RAS) using music and a metronome on the gait of stroke patients. 13 female and 15 male volunteers were randomly allocated to two groups: namely a group to receive RAS using music and a metronome group (the experimental group; $n_1=14$) and a group to receive RAS using a metronome only (the control group; $n_2=14$). The affected side was the left side in 15 subjects and the right side in 13 subjects. The mean age of the subjects was 56.6 years, and the mean onset duration of stroke was 8.6 months. Intervention was applied for 30 minutes per session, once a day, 5 times a week for 4 weeks. To measure the patients' gait improvement, we measured gait velocity, cadence, stride length, double limb support using GAITRite, body center sway angle using an accelerometer, and Timed Up-and-Go test. Functional Gait Assessment were conducted before and after the experiment. The paired t-test was used for comparisons before and after the interventions in each group. Analysis of covariance was used for comparisons between the groups after the interventions. Statistical significance was set at ${\alpha}=.05$. Within each of the two groups, significant differences in all of the dependent variables before and after the experiment (p<.05) were observed. However, in the comparison between the two groups, the experimental group showed more significant improvements in all dependent variables than the control group (p<.05). Our results also suggest that in applying RAS in stroke patients, the combination of music and a metronome is more effective than using a metronome alone in improving patients' gait.

• 전자공학회논문지SC
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• 제42권3호
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• pp.1-10
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• 2005

본 논문에서는 기구학적 구속조건을 고려한 육각 보행 로봇의 새로운 내고장성 걸음새를 제안한다. 본 논문에서 고려하고 있는 고장은 관절고착고장으로 로봇 다리의 관절 하나가 어떤 위치에 고착되어서 보행이 끝날 때까지 움직일 수 없는 상태를 말한다. 본 논문에서는 먼저 육각 보행 로봇의 직선 보행을 위한 기존의 내고장성 걸음새가 고장 난 다리의 기구학적 구속조건에 따라서 교착 상태에 빠질 수도 있음을 해석적으로 증명한다. 그런 다음 이러한 교착 상태를 회피하기 위해서 새로운 내고장성 걸음새 계획을 제안한다. 제안하는 내고장성 걸음새는 다리의 궤적을 변경함으로써 고장 난 다리가 야기하는 교착 상태에서 벗어날 수 있으며, 기존 내고장성 걸음새의 다리 움직임 순서와 보폭을 그대로 유지한다. 제안한 걸음새 계획의 우수성을 입증하기 위해서 평탄 지형에서 정상적인 걸음새로 걷고 있는 육각 보행 로봇이 고장이 일어난 후 제안한 걸음새 계획을 이용하여 교착 상태에서 벗어나 내고장성 걸음새로 전이하는 사례 연구도 기술한다.

• 한국전문물리치료학회지
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• 제2권2호
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• pp.9-23
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• 1995

The objective of this study was to identify the effects of weight-transfer training on the weight bearing distribution and gait patterns of hemiplegic patients through visual and auditory feedback using a limb load monitor. The subjects of this study were 18 hemiplegic patients who had been hospitalized or were visited out-patient department of the Rehabilitation Hospital, College of Medicine, Yonsei University, from January 5, 1995 through March 15, 1995. Pre-and post-training changes in gait patterns were measured using ink foot prints as well as by recording weight bearing distribution using a limb load monitor. The data were analyzed by the repeated measure one-way ANOVA and paired t-test. The finding were as follows: 1. Prior to the training, 18 subjects bore more weight on the sound leg(61.6 %) than on the affected leg(38.4 %). 2. Posterior to the training, the average percentage of weight bearing on the affected leg increased significantly from 38.4 % prior to training; to 46.0 % immediately after training; 45.7 % after a 30 second delay; and 45.3 % after a 60 second 3. The difference in gait patterns between pre- and post- training was statistically significant, with an increase in gait velocity to 3.65 cm/sec post-training; an increase in stride length to 5.37 cm on the affected side; 4.77 cm on the sound side; and a narrowing of the base of support to 1.19 cm. In conclusion, hemiplegic weight-transfer training using visual and auditory feedback with a limb load monitor was found to be enhancing symmetrical standing posture, and simultaneously improve gait patterns.

• Journal of Advanced Marine Engineering and Technology
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• 제36권6호
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• pp.850-856
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• 2012

고정노드 2개를 사용하는 이변측위 방법은 건물이나 선박의 복도와 같은 좁은 공간에서 실시간 실내위치인식 시스템 분야에 사용되고 있다. 하지만 이러한 공간에서 고정노드 간 거리가 멀어지거나 장애물이 있을 경우 위치정보 수신율 저하로 인하여 이동노드(사용자)의 위치 추정이 어렵게 된다. 본 논문에서는 이와 같은 문제를 보완하기 위하여 IEEE 802.15.4a Chirp 신호를 기반으로 사용자에게 부착된 센서를 통하여 위치를 계산할 수 있는 보폭 측정 알고리즘을 이용하는 새로운 실시간 실내위치인식 시스템을 제안한다. 제안한 시스템은 다리길이 측정을 위한 초음파센서, 사용자의 방향을 인식하는 지자기 센서 및 다리사이 각을 획득하기 위한 관성센서로 구성된다. 실험 결과 제안한 시스템은 통신도달성이 결여된 구간에서 기존 실내위치인식 방법에 비해 2배 이상 정교한 결과를 나타내었다.