족압패턴에 의한 보행보조기를 위한 입각기 감지기법

이상룡,허근섭,강오현,이춘영,Lee, Sang-Ryong,Heo, Geun-Sub,Kang, Oh-Hyun,Lee, Choon-Young 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

Gait Deviation Associated with Absent Terminal Stance Phase in People with Stroke

Karla P Sannbia,Adrianna L Ellis,Mansoo Ko 대한신경치료학회 2020 신경치료 Vol.24 No.1

Purpose The purpose of this study was to identify gait deviations during the four rocker phases of gait cycle in people with stroke compared to healthy adults. Methods Fourteen community-dwelling stroke subjects (9 males, 5 females) with unilateral hemiparesis and fifteen healthy adults (10 females, 5 males) had video recording as they walked a five-meter walkway to analyze the four phases of the gait cycle (loading response, midstance, terminal stance, and pre-swing). Subjects performed the five times sit to stand (5STS) test to measure the severity of strength and balance deficits. The distance and time for the four phases and the speed of steady state of walking were measured using a movement analysis software (Dartfish ProSuite 9). This study used the multivariate analysis of variance technique with one fixed factor (group) to identify the multivariate effect of distance, time, and speed related to four consecutive phases. Results The distance and time of the four consecutive phases of gait were significantly different in stroke subjects compared to healthy subjects (p< 0.05). Specifically, the fore-foot rocker, or terminal stance phase, was absent in all stroke subjects which increased their double limb support time resulting in slow gait speed compared to the healthy control group (p< 0.05). Conclusions People with stroke demonstrated reduced body forward progression over four rocker phases compared to the healthy control during a steady state of walking. The ratio of the four rocker phases can be used to specify the gait deviation for clinicians to improve post-stroke hemiplegic gait.

정상인에서 신체적 요인이 체중 치우침과 입각기에 미치는 영향

박범준,박시복,박종우,이승조,이규훈 대한재활의학회 2008 Annals of Rehabilitation Medicine Vol.32 No.5

Objective: To determine if physical factors (age, sex, weight, foot length) affected anteroposterior and intersidal weight- bearing pattern on footplate in standing posture and duration of stance phase at walking.Method: Participants were 578 healthy adults (250 men, 328 women). All participants were tested by GaitviewⓇ (Alfoots, Seoul, Korea) which measure anteroposterior, intersidal weight-bearing pattern on foot plate and duration of stance phase at walking. Measurements were analyzed to find any relations among physical factors (age, sex, weight, foot length), anteorposterior, intersidal weight-bearing pattern and stance phase. Results: The age, weight, foot length had no specific relations to anteroposterior weight-bearing pattern (r<0.2, p<0.05). Men had greater weight-bearing pattern on forefoot than women (p<0.01). The higher the age, the more midstance and the more delayed stance phase was noted (r>0.4, p<0.01).Conclusion: There was a significant correlation between sex and anteroposteior weight-bearing pattern. And there was a positive relation between age and stance, midstance phase.

보행의 디딤비율을 접목한 직립주행 자전거용 크랭크 구동시스템 거동분석

형준호(Joonho Hyeong),노종련(Jongryun Roh),김사엽(Sayup Kim) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12

Stand-up cycling leads to fatigue on the lower limbs because whole body weight is loaded on the leg at the stance phase. Especially changing the stance phase from one leg to the other side is involves increased knee joint moment. In this study, the feature of gait pattern characterized by extended stance phase which occupies 60% of gait cycle is applied to the design of crank drive system in order to decrease lower limb fatigue. An eccentric crank axis deviated from the chaining axis is adopted to realize slow motion at stance phase and quick return at swing phase. Design parameters of eccentric crank mechanism are defined, and kinematic simulations are performed to understand the behavior of the mechanism. The simulation results say that the increased eccentric distance (A) lead to increase the deviation angle (θ) which means stance phase occupies more time of the entire cycle. This study may contribute to develop a stand up bicycle having more portability.

자연과학편 : 팔걸이 착용이 편마비 환자의 보행 지지기 동안 하지 근육의 활성도에 미치는 영향

김정태(JungTaeKim),박성현(SungHyunPark) 한국체육학회 2007 한국체육학회지 Vol.46 No.1

본 연구의 목적은 편마비 환자의 보행 지지기 동안 팔걸이 미착용과 굴곡형 팔걸이 착용 그리고 신전형 팔걸이착용의 세 가지 조건으로 구분하여 하지 근육의 활성도에 어떠한 영향을 미치는지에 대하여 알아보는 것이다. 보행 지지기 동안 하지 근육의 평균 적분 근전도 값을 비교 분석한 결과, 부하반응기 동안 대퇴이두근의 평균 적분 근전도 값이 신전형 팔걸이 착용시 팔걸이 미착용에 비하여 유의하게 낮게 나타났으며 전경골근의 평균 적분 근전도 값은 신전형 팔걸이 착용시 다른 조건에 비하여 유의하게 높게 나타났다. 중간 지지기 동안 전경골근의 평균 적분 근전도 값이 신전형 팔걸이 착용시 다른 조건에 비하여 유의하게 높게 나타났다. 말기 지지기 동안 비복근 내외측두의 평균 적분 근전도 값은 신전형 팔걸이 착용시 다른 조건에 비하여 유의하게 높게 나타났다. 결론적으로 보행 지지기 동안 신전형 팔걸이 착용시 팔걸이 미착용과 굴곡형 팔걸이 착용에 비하여 하지 근육의 협력수축을 촉진하여 근활성도를 높이는 것으로 나타났다. The study was designed to understand the ankle joint muscle activity during hemiplegia patient's walking stance phase. For this purpose, were sampled and broken down into three groups such as "walking without arm sling" group, "walking with flexion-type sling" group, and "walking with extension-type sling" group. As for the loading response, “walking with extension-type sling" group showed lower average IEMG of biceps femoris than "walking without arm sling" and "walking with extension-type sling" group showed higher average IEMG of tibialis anterior than "walking without arm sling" group and "walking with flexion-type sling" group. As for mid stance, "walking with extension-type sling" group showed higher average IEMG of tibialis anterior than the other. As for the terminal stance, "walking with extension-type sling" group showed higher average IEMG of gastrocnemius medial and lateral head than "walking without arm sling" group and "walking with flexion-type" group. In conclusion, "walking with extension-type sling" group showed higher muscle activity and co-contraction than "walking without arm slig" group and "walking with extension-type sling" group.

입유각기의 전환이 가능한 기계식 유압 대퇴의지 개발 및 평가

박진국(J. K. Park),정성윤(S. Y. Jung),권칠용(C. Y. Kwon),박세훈(S. H. Park),신현준(H. J. Shin) 한국재활복지공학회 2021 재활복지공학회논문지 Vol.15 No.1

최근의 대퇴절단환자용 유압의지는 입각기 단계의 체중부하에 따른 무릎굴곡에 대한 안정성을 제공하고 유각기 단계의 자연스러운 무릎 굴곡을 제공하기 위하여 무릎 굴곡 저항을 실시간으로 조절해 주는 가변댐핑형 방식을 적용하고 있다. 가변 댐핑형 대퇴의지는 전자식과 기계식이 있으며, 전자식은 센서 및 전동노즐을 통한 유체저항력의 빠른 전환이 용이하나 배터리를 사용하기 때문에 사용시간의 문제를 갖고 있다. 기계식의 경우 단순 브레이크 기능을 가진 제품이 주로 개발되고 있지만, 유압-기구적인 메카니즘의 개선을 통해 기계식으로도 사용시간의 제한이 없는 가변 댐핑형 의지를 개발하는 것이 가능하다. 본 연구에서는 유압-기구 제어방식의 대퇴의지 개발에 있어서 보행 주기 동안 입각기에서 유각기 전환이 가능한 대퇴의지를 분석하여 시제품을 제작하였으며, 제작된 유압실린더의 노즐조절 및 속도에 따른 기능별 유체 댐핑 특성을 측정하였고, 제품성을 위한 유압실린더의 실링 내구성 및 정적 내구성 시험을 수행하였다. 또한 제작된 대퇴의지의 기능 검증을 위하여 단기적인 임상보행을 통하여 안정성을 확인하였다. 본 연구를 통해 개발된 기계식 유압 대퇴의지는 추후 장기적인 내구성이 확보된다면 배터리가 필요한 전자식 MPK 의지의 기능을 대체할 수 있을 것이다. Recently commercial hydraulic prosthetic knee have been applied a method of adjusting knee flexion resistance in real time in order to maintain stability against knee flexion according to weight load in stance phase and to provide natural knee flexion in the swing phase phase. These variable damping prosthetic knee are divided into electronic and mechanical types. The electronic type has the advantage of being able to quickly change the fluid resistance through a sensor and an electric nozzle, but there is a problem that the use time is limited due to the battery. In the case of the mechanical type, if the hydraulic mechanism is improved, it can be developed so that the use time is not limited while implementing functions similar to the electronic type. In this study, we developed a knee prosthesis capable of mechanically switching from stance phase to swing phase during the gait cycle. The fluid damping characteristics for each function according to nozzle control and speed of the developed hydraulic cylinder were measured, and sealing durability and static durability tests of the hydraulic cylinder for productability were performed. In addition, a simple clinical trial was performed to verify the feasibility of the developed knee prosthesis. The hydraulic knee prosthesis developed through this study is expected to be able to replace the electronic MPK knee prosthesis that requires a battery if long-term durability is ensured.

하지 마비 환자를 위한 1 자유도 보행 보조기 설계

정철희(C. H. Jung),최용제(Y. J. Choi) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월

Walking training is one of the most important rehabilitation processes with paralysis patient. Walking training by using an orthosis can help advancing a patient’s independent level. However, existing orthoses have some serious demerit of mechanical problem that the knee joint is locked in the state where it is completely extended, which increases energy consumption and fatigue. For this reason, it is suggested, for more practical orthosis, that the knee joint should be placed and it should have capability of suspending patient’s weight. In this paper, 1-DOF walking orthosis which compensates the demerit of the existing orthosis and secures patient’s mobility has been proposed. New orthosis has been designed under the following two premises. First, the knee joint of the orthosis was designed fold in order for the orthosis to move in a walking pattern similar to that of a normal person. Second, the knee joint was designed to extend during the swing phase and lock safely during the stance phase.

보행패턴을 접목한 직립주행 자전거용 크랭크 구동장치의 거동분석

형준호(Joonho Hyeong),노종련(Jongryun Roh),김사엽(Sayup Kim) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.10

인간의 보행에서 안정적인 디딤을 가능하게 하는 동작특성은 보행 일주기의 60%를 차지하는 긴 디딤국면이다. 본 연구에서는 이러한 보행패턴을 자전거의 크랭크 구동장치에 반영하여 직립자세에서 안정적으로 구동할 수 있는 자전거를 설계하고자 한다. 크랭크의 회전속도를 디딤국면에서는 느리게, 되돌림국면에서는 빠르게 움직이도록 급속귀환 기구를 크랭크 구동시스템에 적용하였다. 이 급속귀환 크랭크기구의 설계변수를 정의하고 설계변수의 변화가 크랭크의 거동에 미치는 영향을 시뮬레이션 하였다. 또한 실험장치를 제작한 후 탑승자의 구동동작을 분석한 결과 보행패턴을 접목한 크랭크는 사용자 무게중심 안정화에 기여하는 것으로 나타났다. 향후 보행패턴을 접목한 크랭크는 서서 타는 자전거의 구동시스템에 접목 가능할 것으로 보인다. Gait stability is partly characterized by an extended stance phase that comprises 60% of the gait cycle. In this study, a gait pattern was employed for a crank drive system that allows for stable lower limb kinematics during stand-up cycling. A quick return mechanism was applied to the crank system to allow for a slow rotation of the crank during the stance phase and for a quick return during the swing phase. Design parameters for the quick return crank mechanism were defined, and kinematic simulations were performed to understand the behavior of the mechanism. To evaluate the design, an experimental instrument was fabricated, and the cycling motion was analyzed. The results indicated that this new drive system can stabilize the center of mass of the user. This study can contribute to the development of a stand-up bicycle that allows for more comfortable leg kinematics.

노인의 장애물 보행 시 장애물 높이에 의한 압력중심 이동시간의 차이

박설,김경,박지원,Park, Seol,Kim, Kyoung,Park, Ji-Won 대한물리치료학회 2011 대한물리치료학회지 Vol.23 No.2

Purpose: This study examined the difference in the center of pressure (COP) displacement time in older adults according to the obstacle height during stance at each sub.phase when crossing obstacles. Methods: Fifteen older adults were enrolled in this study (${\geq}65$ years of age). The F-scan was used to measure the COP displacement time when crossing a 0, 10 and 40cm obstacle, and the stance phase was divided into 4 sub-phases according to the foot contact pattern. Results: During the stance phase, the COP displacement time increased with increasing obstacle height. During the mid-stance, terminal stance and pre-swing except for the loading response, there were significant differences in the COP displacement time according to the obstacle height. Conclusion: This study suggests that older adults show differences in the COP displacement time according to the stance sub-phase while crossing obstacles, and they use different mechanisms according the sub-phases to maintain balance during obstacle crossing.

파킨슨씨 병 환자와 정상인의 입각기시간과 상비율의 비교

김지원,엄광문,Kim, Ji-Won,Eom, Gwang-Moon 대한의용생체공학회 2006 의공학회지 Vol.27 No.6

The purpose of this study is to investigate the gait characteristics in Parkinson's disease patients. Specifically, the total stance time and the ratio of each stance phase (heel strike, mid-stance, propulsion) are analyzed from the foot-pressure measurement system which requires low cost and small space compared to the conventional gait analysis system. The gait characteristics were analyzed in 23 Parkinson's disease patients (before and after L-dopa medication), 34 elderly (sixties) normal subjects and 21 young (twenties) normal subjects. Bradykinesia global score (self-developed score of slowness of body movement) of patients before medication was determined to see the relationship between the score and the gait characteristics. The total stance time was greater in the erde. of patients, elderly, youngs (p<0.05). The phase ratio of heel strike and propulsion was smaller and that of mid-stance was greater in the order of patients, elderly, youngs (p<0.05). However, there was no significant difference in the above gait characteristics of patients before and after medication. There was a tendency, though statistically non-significant, that the total stance time is longer and the propulsion phase ratio is shorter in patients with greater Bradikinesia global scale, and this tendency was relieved after medication.