• Journal of Korea Society of Industrial Information Systems
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• v.14 no.4
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• pp.16-29
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• 2009

This paper investigates the kinematic and dynamic analysis of a spherical three degree of freedom parallel joint module, which is used in the exercise equipment for balance and leg-strength improvement of aged people. The joint module has three dyads which consist of two links and three revolute joints, and their all joints intersect at the global point located at the module's center. The paper shows the explicit mathematical procedure for deriving the closed form solutions in the inverse and forward position analysis of this parallel joint module. In velocity and acceleration analysis, we derived relations for joint velocities and accelerations of dyads and rotational velocity and acceleration of the top plate. For applying this module to rehabilitation exercise, we determined the dynamic model of the Korean males in their 50s and examined the model's results by dynamic model simulation.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.2
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• pp.379-386
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• 2023

When patients suffer from finger injuries, their finger joints can become stiff and inflexible due to decreased ability to exercise the finger tendons. This can lead to a loss of strength and difficulty using their hands. To address this, it is important to provide patients with consistent rehabilitation treatment that can help restore finger flexibility and strength simultaneously. In this study, we propose wearable gloves that use FSRs (force sensitive resistors) for finger strength training. The glove is designed to be adjustable using rubber bands and a custom PCB is designed for signal acquisition. For the evaluation of finger strength training, the result was analyzed in four cases. We suggest a vector that represents the center of five finger forces, and the result shows that the vector can indicate the level of force balance.

• Journal of the Institute of Convergence Signal Processing
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• v.25 no.2
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• pp.67-76
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• 2024

Various types of assistive devices have been developed for upper limb amputees over the years, with myoelectric prosthesis particularly aimed at improving user convenience by enabling a range of hand gestures beyond simple grasping, tailored to the size and shape of objects. In this study, we developed a five-finger myoelectric prosthesis mimicking human hand size and finger movements, utilizing motor and worm gear mechanisms for stable and independent operation. Based on this, we designed a control system for independent finger control through electromyographic signal input, proposed a state transition-based hand gesture conversion algorithm by selecting representative eight hand gestures and defining conversion condition parameters. We introduced training and usability evaluation methods, and conducted usability assessments among upper limb amputees using dedicated tools, confirming the potential for commercial application of the algorithm and observing adaptive capabilities and high performance through iterative evaluations.

• The Journal of Korean society of community based occupational therapy
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• v.6 no.1
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• pp.49-60
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• 2016

Objective : By organizing systematically the study case that use Robot Therapy as intervention tool according to PICO (Patient, Intervention, Comparison, Outcome), This study aims to investigate the domestic Robot Therapy's present condition. Methods : We searched 710 pieces of domestic scientific journal and master's thesis during the past nine years in 'Research Information Sharing Service' and 'National Digital Science Library' database using the keyword 'Robot therapy'. We finally chose 15 pieces of domestic scientific journal and master's thesis among the domestic studies that based on the full text which is affordable and used robot by therapeutic intervention tool. Chosen studies were layed out by PICO that could organize the resources systematically. Results : The quality of study tool was used to the method of evidence-based study level of 5 step classification. More than three stages of quality level study was 13. Result of dividing the studies using robot therapy by intervention field, language, lower extremity(gait), cognition, development and study for the region of the upper extremity of five is advancing. Conclusion : Nationally, the robot therapy has been used in various area that include the upper extremity and lower extremity's intervention of language, cognition, growth and others. We hope that this study for baseline data will be utilized in various area engaging to domestic robot therapy.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.510-517
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• 2015

For the self-directed rehabilitation of upper extremity hemiplegia patients, in this paper we propose an interface method capable of doing bilateral exercises in rehabilitation robotics. This is a method for estimating information of movements from the unaffected-side, and projects it to the affected-side in order. That the affected-side is followed the movements of the unaffected-side. For estimation of the unaffected-side movements information, gyro sensor data and acceleration sensor data were fused. In order to improve the measurement error in data fusion, a HDR filter and a complementary filter were applied. Estimated motion information is derived the one side of the drive input of rehabilitation robot. In order to validate the proposed method, experimental equipment is designed to be similar to the body's joints. The verification was performed by comparing the estimation angle data from inertial sensors and the encoder data which were attached to the mechanism.

• 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.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.610-616
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• 2004

In the research of biomechanical engineering, robotics and neurophysiology, to clarify the mechanism of human bipedal walking is of major interest. It serves as a basis of developing several applications such as rehabilitation tools and humanoid robots. Nevertheless, because of complexity of the neuronal system that interacts with the body dynamics system to make walking movements, much is left unknown about the details of locomotion mechanism. Researchers were looking for the optimal model of the neuronal system by trials and errors. In this paper, we applied Genetic Programming to induce the model of the nervous system automatically and showed its effectiveness by simulating a human bipedal walking with the obtained model.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.957-962
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• 2010

If we want to recognize the human's emotion via the facial image, first of all, we need to extract the emotional features from the facial image by using a feature extraction algorithm. And we need to classify the emotional status by using pattern classification method. The AAM (Active Appearance Model) is a well-known method that can represent a non-rigid object, such as face, facial expression. The Bayesian Network is a probability based classifier that can represent the probabilistic relationships between a set of facial features. In this paper, our approach to facial feature extraction lies in the proposed feature extraction method based on combining AAM with FACS (Facial Action Coding System) for automatically modeling and extracting the facial emotional features. To recognize the facial emotion, we use the DBNs (Dynamic Bayesian Networks) for modeling and understanding the temporal phases of facial expressions in image sequences. The result of emotion recognition can be used to rehabilitate based on biofeedback for emotional disabled.