• Journal of Biomedical Engineering Research
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• v.27 no.5
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• pp.245-249
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• 2006

The aim of this study is to design and develop the gait rehabilitation equipment that judge patient's movement of his/her center of gravity using pressure sensors, and to aid hemiplegic patients to balance themselves using an automatic stepper that changes the patient's center of gravity. It is hard to bear the weight on the affected side for hemiplegic patients. The gait rehabilitation equipment detects the footing phase of hemiplegic patient during training and moves the unaffected footing side of the stepper up and moves the affected footing side down simultaneously so that the patient's center of gravity can shift from unaffected side to affected side. The gait rehabilitation system was developed and applied for hemiplegic patients during exercise. Eight hemiplegic patients and one normal adult were studied. The developed gait rehabilitation system could judge not only the normal adult's intention but also the patient's intention to move his/her center of gravity. Even though the most of hemiplegic patients exercised in automatic mode and a few hemiplegic patients exercised in manual mode, the developed gait rehabilitation system can aid the hemiplegic patients to train more easily.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.866-871
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• 2010

Gait analysis is essential for leg diagnosis and rehabilitation for the patients, the handicapped and the elderly. The use of 3D motion capture device for gait analysis is very common for gait analysis. However, this device has several shortcomings including limited workspace, visibility and high price. Instead, we developed gait estimation system using gyroscopes. This system provides gait information including the number of gaits, stride and walking distance. With four gyroscope (one for each leg's thigh and calf) outputs, the proposed gait modeling estimates the movements of the hip, the knees and the feet. Complete pedestrian localization is implemented with gait information and the heading angle estimated from the rate gyro and the magnetic compass measurements. The developed system is very useful for diagnosis and the rehabilitation of the pedestrian at the hospital. It is also useful for indoor localization of the pedestrians.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1272-1277
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• 2005

In this study, we wolud be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO's joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve(MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait.

• Annals of Rehabilitation Medicine
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• v.42 no.6
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• pp.872-883
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• 2018

Objective To replace camera-based three-dimensional motion analyzers which are widely used to analyze body movements and gait but are also costly and require a large dedicated space, this study evaluates the validity and reliability of inertial measurement unit (IMU)-based systems by analyzing their spatio-temporal and kinematic measurement parameters. Methods The investigation was conducted in three separate hospitals with three healthy participants. IMUs were attached to the abdomen as well as the thigh, shank, and foot of both legs of each participant. Each participant then completed a 10-m gait course 10 times. During each gait cycle, the hips, knees, and ankle joints were observed from the sagittal, frontal, and transverse planes. The experiments were conducted with both a camera-based system and an IMU-based system. The measured gait analysis data were evaluated for validity and reliability using root mean square error (RMSE) and intraclass correlation coefficient (ICC) analyses. Results The differences between the RMSE values of the two systems determined through kinematic parameters ranged from a minimum of 1.83 to a maximum of 3.98 with a tolerance close to 1%. The results of this study also confirmed the reliability of the IMU-based system, and all of the variables showed a statistically high ICC. Conclusion These results confirmed that IMU-based systems can reliably replace camera-based systems for clinical body motion and gait analyses.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.503-509
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• 2015

In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

• Journal of Korean Medicine Rehabilitation
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• v.24 no.3
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• pp.149-155
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• 2014

Objectives This study was designed to investigate the correlation between the difference of pelvic height and difference of gait balance. Methods 62 cases of patients who received treatment from January 2011 to March 2014 for abnormal postures were analyzed. Their difference of pelvic height were estimated by whole spine X-ray analysis and gait balance were estimated by Treadmill Gait Analysis system. The data were analyzed to find out correlation between difference of pelvic height and difference of gait balance, and correlation between the position of pelvic tilt and gait balance higher side. Pearson correlation and Chi-square analysis were used. Results Pelvic height heigher side were more left than right side, and gait balance higher side were also more left than right side. Difference of pelvic height and difference of gait balance had a positive linear relationship, but there was no significant correlation. The position of pelvic tilt had significant correlation with gait balance higher side. Conclusions The position of pelvic tilt had significant correlation with gait balance higher side and difference of pelvic height had no significant correlation with difference of gait balance.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1500-1503
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• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.

• Physical Therapy Rehabilitation Science
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• v.6 no.3
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• pp.134-139
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• 2017

Objective: Dual-task interference is defined as decrements in performance observed when people attempt to perform two tasks concurrently, such as a verbal task and walking. The purpose of this study was to investigate the changes of gait ability according to the dual task interference in chronic stroke survivors. Design: Cross-sectional study. Methods: Ten chronic stroke survivors (9 male, 1 female; mean age, 55.30 years; mini mental state examination, 19.60; onset duration, 56.90 months) recruited from the local community participated in this study. Gait ability (velocity, paretic side step, and stride time and length) under the single- and dual-task conditions at a self-selected comfortable walking speed was measured using the motion analysis system. In the dual task conditions, subjects performed three types of cognitive tasks (controlled oral word association test, auditory clock test, and counting backwards) while walking on the track. Results: For velocity, step and stride length, there was a significant decrease in the dual-task walking condition compared to the single walking condition (p<0.05). In particular, higher reduction of walking ability was observed when applying the counting backward task. Conclusions: Our results revealed that the addition of cognitive tasks while walking may lead to decrements of gait ability in stroke survivors. In particular, the difficulty level was the highest for the calculating task. We believe that these results provide basic information for improvements in gait ability and may be useful in gait training to prevent falls after a stroke incident.

• The Journal of Korean Physical Therapy
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• v.27 no.2
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• pp.124-127
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• 2015

Purpose: The emphasis on gait rehabilitation after stroke depends on training support through the lower limbs, balance of body mass over the changing base of support. However, muscle weakness, lack of control of lower limb, and poor balance can interfere with training after stroke. For this case study report, a wearable robot orthosis was applied to stroke patients in order to verify its actual applicability on balance and gait ability in the clinical field. Methods: Two stroke patients participated in the training using the wearable robot orthosis. Wearable robot orthosis provides patient-initiated active assistance contraction during training. Training includes weight shift training, standing up and sitting down, ground walking, and stair up and down Training was applied a total of 20 times, five times a week for 4 weeks, for 30 minutes a day. Gait ability was determined by Stance phase symmetry profile, Swing phase symmetry profile, and velocity using the GAITRite system. Balance ability was measured using the Biodex balance system. Results: Subjects 1, 2 showed improved gait and balance ability with mean individual improvement of 72.4% for velocity, 19.4% for stance phase symmetry profile, 9.6% for swing phase symmetry profile, and 13.6% for balance ability. Conclusion: Training utilizing a wearable robot orthosis can be useful for improvement of the gait and balance ability of stroke patients.