• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.21-24
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• 2014

본 연구는 뇌손상(뇌졸중, 외상성 뇌손상, 뇌성마비 등)으로 인하여 손의 능동적 움직임이 결여되어 발생하는 관절의 구축, 근육의 단축, 근육의 탄력성 저하 등의 문제점을 분석하여 인체 역학적 모델에 따른 과학적 설계를 기반으로 환자의 손 기능 회복을 위하여 로봇 기술과 스마트폰의 융합을 통한 재활 로봇 보조 치료기를 설계하고 구현하였다. 제안된 시스템은 일반적인 근 경직을 치료하는 방법을 응용하여 IT 기술과 로봇기술을 융합하여 치료사들의 부담을 덜어 주고, 환자들에게 오랫동안 정확한 운동을 반복적으로 할 수 있도록 하는데 목적이 있다. 하나의 구동기로 2자유도의 움직임을 조절 할 수 있는 링크 매커니즘과 링크의 길이를 조절하여 신전(extension)과 과신전(Hyperextension)의 범위 조절이 가능하도록 로봇 플랫폼을 설계하였다. 또한 환자의 재활정도 및 상태에 적합한 운동속도, 운동반복횟수 등을 손쉽게 조작할 수 있는 등의 개인 맞춤형 재활훈련이 가능한 사용자 인터페이스를 설계 및 구현하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.53-56
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• 2022

본 논문에서는 심전도(ECG) 센서와 에지 컴퓨팅(Edge computing)을 활용하여 실시간 데이터와 Bayesian optimization을 통한 기계학습 알고리즘으로 재활 로봇에서 발목을 제어할 수 있는 Parameter(외골격 관련) 최적값을 출력한다. 심전도 센서 적용을 기반으로 하는 바이오 데이터 기술, 기계 학습(Bayesian optimization) 모델 접근 방식과 하드웨어 결합으로 재활 로봇 모터를 제어할 수 있는 Parameter 제공과 실시간 모터 제어 운영할 수 있도록 분석 플랫폼을 구축한다. 이 플랫폼을 이용해보다 효과적인 이동형 로봇설계 및 처리 방법을 연결할 수 있는 발판을 마련하였고, 로봇제어에 많이 사용하고 있는 매트랩 시뮬링크(Matlab simulink)를 연결할 수 있는 범용 통신 지원한다. 센서-전처리-인공지능 알고리즘-모터 제어 Parameter로 연계되는 데이터 가공과 처리 방법으로 최근 분석 기법을 적용하여 바이오 데이터 연구 활동과 이동형 재활 로봇 관련 데이터 분석 분야를 쉽게 접근할 수 있도록 한다.

• Journal of Internet Computing and Services
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• v.14 no.6
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• pp.33-39
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• 2013

When the eldery with limited mobility and disabled use a wheelchairs to move, it can cause decreased exercise ability like decline muscular strength in upper limb and lower extremities. The disabled people suffers with spinal cord injuries or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. In this paper, We designed intelligent wheelchair robot system for upper limb and lower extremities exercise/rehabilitation considering the characteristics of these severely disabled person. The system consists of an electric wheelchair, biometrics module for Identification characteristics of users, upper limb and lower extremities rehabilitation. In this paper, describes the design and configurations and of developed robot. Also, In order to verify the system function, conduct performance evaluation targeting non-disabled about risk context analysis with biomedical signal change and upper limb and lower extremities rehabilitation over wheelchair robot move. Consequently, it indicate sufficient tracking performance for rehabilitation as at about 86.7% average accuracy for risk context analysis and upper limb angle of 2.5 and lower extremities angle of 2.3 degrees maximum error range of joint angle.

• Journal of the KSME
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• v.42 no.3
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• pp.38-44
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• 2002

이 글에서는 의료용 로봇의 연구 분야를 수술보조 로봇, 수술 로봇, 수술 시뮬레이터, 재활 로봇 등으로 분류하여 국내외 연구 현황과 전망에 대해서 소개한다.

• Journal of Digital Convergence
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• v.19 no.6
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• pp.393-398
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• 2021

As society becomes more complex and advanced, the risk of accidents is inevitably increased, and this is an opportunity to increase the occurrence of not only congenital disabilities but also acquired disabilities. In this situation, the use of rehabilitation robots, a complex of advanced technologies, is expected to increase steadily in the future. So the authors would take a look the technological trends and future development prospects of domestic and foreign rehabilitation robots. Until now, disability assistive robot technology has been mainly developed in the field of supporting disability with walking disabilities or work limitations rather than cognitive disabilities. However, another issue of population aging is that cognitive impairment has the potential to increase, so development of a disability assistance robot that secures user safety must be actively promoted. It is thought that empirical results should be derived and converged

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.87-88
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• 2008

과거에는 로봇이 노동 대체인력의 산업용으로 사용되어져 왔으나, 현재는 인간 친화형 고부가가치 서비스 지능형 로봇으로 로봇산업의 패러다임이 전환되고 있다. 지능형 로봇의 개발은 저출산 고령화의 부작용인 노동력 감소와 소외 약자에 대한 Care 서비스 수요증대에 크게 해석할 것이다. 이러한 지능형 로봇의 응용 및 활용방안으로 병원에서의 의료용 서비스 로봇시스템 개발이 급증하고 있다. 이러한 의료용 로봇은 수술시 의사를 보조해 절개위치 유도, 절단작업을 수행하는 수술용 로봇과 위장이나 대장 내부를 진단하는 내시경 로봇, 재활치료를 돕는 재활보조로봇 등이 개발되고 있으나, 병원 내에서 신속한 진단 및 진료를 위한 서비스 로봇은 국내에 전무한 실정이다. 따라서 본 연구에서는 의사가 현장에 없거나 바쁜 상황에서도 환자와 원격으로 진단 진료를 가능하게 함으로써 응급상황에 대한 긴급 조치나, 질 높은 서비스를 제공하는데 큰 도움을 주기 위한 원격 진료용 서비스 로봇을 개발하였다.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.2
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• pp.126-133
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• 2023

In this study, electromyography was obtained in the six muscle areas that move the joints of the two legs, and by analyzing it, an exercise robot system capable of gait rehabilitation was proposed in consideration of the individual's muscle state. Through this, the system was constructed to prevent the effect of exercise from decreasing because the patient's will was not reflected when walking exercise was simply provided automatically. As a result of the evaluation of the developed system, it was confirmed that the pedestrian rehabilitation robot system manufactured through this study had performance suitable for the design requirements, and it was also confirmed that the usability evaluation was comprehensively satisfactory. The results of this study are thought to be of great help to patients who are having difficulty in gait rehabilitation, and are believed to be helpful in the development of electromyography signal-based gait robot systems.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.562-568
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• 2016

This study to investigated the therapeutic effect of robot-assisted rehabilitation (Lokomat) with virtual reality (VR) on Pusher syndrome (PS) after stroke. A total of 10 patients presented with PS after stroke were recruited. The participants were divided into two groups: Lokomat (n=5) and control groups (n=5). Lokomat and conventional physical therapy (CPT) were performed together in the experimental group, and the patients in the control group were treated with CPT only twice a day. One session of intervention was carried out for 30 minutes five times per week for 4 weeks. Scale for contraversive pushing (SCP), Berg balance scale (BBS), falling index (FI), and Timed up and go test (TUG) were measured before and after the intervention. The Lokomat group produced significantly better outcomes in SCP (p=0.046), BBS (p=0.046), FI (p=0.038), and TUG (p=0.038) compared with the control group after 4 weeks of intervention. In addition, there were significant correlations between SCP and BBS (p=0.024), FI (p=0.039), and TUG (p=0.030). In conclusion, Lokomat with VR more effectively aided recovery from PS after stroke, and restoration of PS symptoms was related with improvement of balance and gait function.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.5
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• pp.516-523
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• 2012

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. The moving direction of thumb of five fingers is different that of four fingers (force finger, middle finger, ring finger, little finger). The thumb rehabilitation robot for rehabilitation exercise must be included a force control system, because robot can injure thumb by applying too much force. In this paper, the rectangular-type thumb rehabilitation robot was developed for stroke patient's thumb rehabilitation exercise of the flexibility rehabilitation exercise. The characteristic test of the developed rectangular-type thumb rehabilitation robot was carried out with normal men in their twenties. As a result, it is thought that the robot can be used for the flexibility rehabilitation exercise of stroke patient's thumb.

• Review of Korea Contents Association
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• v.16 no.4
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• pp.36-40
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• 2018