This study was to investigate the positive effects of specially designed trunk-stabilization exercise program on lower extremity balance of elderly with history of leprosy. In this participants, lower extremity functions has been undermined by the development of damage in peripheral nerves. A total of 40 elderly with history of leprosy were divided into 2 groups of equal size (): a group that participated in the exercise program, and a control group that did not exercise but did continue to engage in normal daily activities (including walking). The exercise group exercised for 60 minutes 2 days a week for 12 weeks. Static balance ability was measured by asking study participants to a one leg standing test: dynamic balancing ability was measured with a tandem walking test and a timed up-and-go test. The participants in the exercise program and the control group were tested before and after completion of the exercise program for comparison, and then divided according to their ability to feel sensory in the soles of their feet into the categories of normal sensory group: group with sensory loss in one foot: and group with sensory loss in both feet. The participants in the exercise program showed a positive, statistically significant difference in static balance compared with the control group (p<.05) as measured using the one leg standing test. Similarly, the participants in dynamic balance (p<.05) as measured using the tandem walking and timed up-and-go tests. Finally, these improvements were related to the severity of sensory loss in the soles of the feet for all study participants.

Reductions in strength and range of motion in older persons have been associated with decreased functional mobility and risk of falls. The purpose of this research was to investigate the effect of intensive dynamic balance exercise (DBE) during 8 weeks on onset time of medial gastrocnemius and tibialis anterior muscle contraction after perturbation in older women. Thirty subjects were randomly assigned into DBE group or control group. The DBE group participated in 50 minutes 3 days a week for 8 weeks. Surface electromyography (EMG) activity was recorded from the medial gastrocnemius and tibialis anterior muscles of left side. Outcome data were collected both groups at the pre-exercise and post-exercise. Independent t-test and paired t-test were used to determine the statistical difference. Results showed that the passive range of motion and functional reach test were significantly increased in the DBE group than the control group at the post-exercise (p<.05). The onset time of both muscles and discrepancy of onset time significantly reduced in the DBE group than the control group at the post-exercise (p<.05). The onset time of both muscles were significantly reduced in the post-exercise than the pre-exercise in the DBE group (p<.05). The discrepancy of onset time in the DBE group was significantly reduced in the post-exercise than the pre-exercise (p<.05). These findings suggest that intensive dynamic balance exercise for the eight weeks was effective in improving the postural control with older persons.

The purpose of this study was to investigate how COP displacement of a hemiplegic foot in stance phase during gait is related to clinical balance measures and the recovery stage in hemiplegic stroke patients. Twenty-eight functionally ambulant hemiplegic patients who had suffered from strokes and thirty age-matched healthy subjects participated in this study. COP parameters were calculated. Clinical balance was measured using the Functional Reach Test (FRT) and Timed Up and Go Test (TUGT). The recovery stage, proprioception, and clonus of the ankles or lower extremities were also measured for physical impairment status. The COPx max-displacement in the medial-lateral side of the stroke patients was significantly longer than that of the normal group (p=.038). The COPy max-displacement in the anterior-posterior side of the stroke patients was significantly shorter than that of normal group (p<.001). Significant differences in the COPx and COPy displacement asymmetry index were found between the two groups (p<.01). The FRT was correlated with the COPx displacement (r=.552) and COPy displacement (r=.765). The TUGT was correlated with the COPy displacement (r=-.588) only. The recovery stage of the lower extremities was correlated with COPy displacement (r=.438). The results of the study indicate that the characteristic of COP displacement in hemiplegic feet in stance phase during gait is related to balance ability and recovery in stroke patients. COP parameters acquired by the mapping of foot pressure in stance phase during gait will provide additional useful clinical information. This information can be used by clinicians to assess objectively the pathologic gait with other diseases and to evaluate the therapeutic effects on gait in stroke patients.

Counter balance valve is used as one part of hydraulic motor brake system. The function of this valve is to protect over-run or free falling of inertia load. But occasionally the brake system with counter balance valve makes some undesirable problems such as pressure surges or vibrations. These problems may hurt system safety and driver's conformability. Nevertheless, studies on dynamic characteristics of hydraulic system including counter balance valve are very rare, so further accumulation of research results are required. In this study, for the purpose of easy estimation about dynamic characteristics of hydraulic system including counter balance valve, precise formulation describing fluid dynamics and valve dynamics under various boundary conditions were made. The equations obtained in the preceding process include some parameters that must be got experimentally. Flow coefficients of valve and choke are the most significant ones among the parameters. So these parameters are obtained experimentally in this study, and experimental equations obtained from the experimental data were used for numerical calculation. The equations were analysed by numerical integration using Runge-Kutta method, because the equations contain various nonlinear terms. From the numerical analysis, it was verified that the dynamic response of counter balance valve and pressure variation at each elements can be estimated very easily. So the analysing method developed in this study enabled very easy estimating the relation between the performances of counter balance valve and various physical parameters related to the valve. Conclusively, it is said that the results obtained in this study can be used very usefully to develop a new type counter balance valve or to apply the valve to actual hydraulic system for various industrial equipments.

Dynamic simulator can be a helpful tool for understanding underwater robotic system's dynamics. However, due to difficulties in modeling dynamics of vehicle/manipulator and interaction between them, dynamic simulation is not easy. This is true even when fluid dynamics are not considered during the simulation. In this paper, two schemes are introduced for dynamic simulation of underwater robotic systems. One is principle of dynamical balance, which is an easy and powerful tool for formulating dynamic equations of composite systems such as underwater vehicle- manipulator system. In the dynamic modeling, this principle gives us the closed-form of dynamic equations on matrix Lie group. The other is geometric integration algorithm, called 4-th order explicit Munthe-Kaas method. By this method, the derived differential equations can be integrated preserving geometric structure. Adopting these two schemes, dynamic simulation of underwater vehicle- manipulator system can be conducted more easily and more reliably.

The purpose of this study was to investigate visual control of dynamic balance in children. 24boys as subjects consisted of six (n=12), eight(n=12) years old in elementary school. They walked the balance beam under all the task conditions(4) in a heel-to-toe fashion. The task conditions was body/environment condition, body condition, environment condition, full visual condition. Each of child was given three practice trials walking the beam in fully lighted room . The average of three test trials under each of condition was the dependent variable. The results were as follows: The first, the effect of task condition was significant (F(3, 66)=65.05, P<.001). Second, the effect of year was significant (F(1, 66) =571.9, P<. 001) . Third, the interaction between age and condition was also significant(F(3,66)=32.40,P<.001) . And, SNK procedure test (post hoc) indicated significant difference between age and task condition (P< .05) . In conclusion, development of sensory-motor control in children is significantly related to dynamic balance. Also, there may be a trend away from the need to visually monitor body/ environment relationships to maintain effective balance (six years old) to a shift toward greater reliance of vestibular-proprioception information for maintaining dynamic balance control at eight years old .