• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.244-244
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• 2000

We proposed the above-knee prosthesis using rotary MR damper in which knee joint is semi-actively controlled by microprocessor. Dissipation torque in the knee joint can be controlled by the magnetic field which is induced by applying current to a solenoid, Tracking control of knee joint angle was tested by 3-DOF Leg simulator. The experimental results show that the proposed above-knee prosthesis system had good performance in swing phase tracking and repetitive controller in conjunction with a computed control law and PD control law, reduced RMS tracking error as the repetitions of tracking. Moreover, desired knee angle trajectory was generated based on the estimation of gait period with the gyro signal and the tracking control was performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.432-432
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• 2000

The above-Knee Prosthesis has been used by the handicapped person and become a important part of their life. But uniform above-knee prosthesis only increases inconvenience And so the tool that can estimate and help to design of suitable prosthesis for user need to be developed. The simulator developed in this research is composed of two part. One is hardware that can realize various walking motions. The other is software that can display and analyze the results of walking mot ion. Three motors constitute hardware of Simulator. Two motors are used to realize heap motion that need two degree of freedom and the rest one used to realize swing motion. Software of Simulator display results of three motor trajectories and walking mot ion of hardware using computer graphic. Therefore, The simulator developed in this research which is able to realize human gait and results are analyzed through simulation program at PC will be some help to design and produce of prosthesis suitable to user.

• 전기전자학회논문지
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• 제23권3호
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• pp.883-892
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• 2019

본 연구에서는 지능형 대퇴 의족의 노면 적응 기술 구현시 보행 환경이 변화하는 구간 및 약 경사로 보행에서의 보행 불평형 문제를 해결하기 위한 방법으로 발목 관절 운동을 제어 가능한 하퇴 의족을 적용하였다. 제안한 태퇴 의족의 개발을 위해서는 보행의 단계 구분이 필수적이다. 이러한 보행의 입각기의 단계별 구분과 유각기의 판단을 위하여 대퇴의족의 슬관절 데이터와 관성센서 데이터를 바탕으로 의사 결정 나무 학습법과 랜덤포레스트 기법을 융합한 머신러닝 기술을 제안 및 적용하였다. 이러한 방법으로 발목의 운동 상태를 제어 하였으며 보행 평형이 문제가 해소 되는지를 butterfly diagram을 측정하여 평가 하였다.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.267-271
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• 1997

In this study, swing phase dynamic simulation of above-knee prosthesis is performed. The prosthesis consists of a single axis knee mechanism and pneumatic cylinder. The numerical modelling of the prosthesis is analyzed in two dimensions. The governing equation of thermodynamical pneumatic cylinder model is applied to construct the control of lower limb during swing phase. Knee flexion angle with respect to the orifice diameter of the pneumatic cylinder is produced. This analysis will be very useful to the design of pneumatic cylinder in prosthesis.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1998년도 추계학술대회
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• pp.88-89
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• 1998

In this paper, a transfemoral prosthesis with a microprocessor controlled pneumatic knee developed at KOREC is presented. The resistance of the knee is changed automatically via a microprocessor as the amputee's gait speed changes, so that the prosthetic side of the amputee can follow the sound limb. Gait analysis has been conducted to evaluate the performance of the developed prosthesis and the improvement of the gait pattern including the gait symmetry was observed.

• 한국정밀공학회지
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• 제24권7호
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• pp.133-138
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• 2007

It is important to understand the characteristics of amputee gait to develop more advanced prostheses. The aim of this study was quantitatively to analyze the stair climbing task for the above-knee amputee with a prosthesis and to predict muscle forces and joint moments at musculoskeletal joints by dynamic analysis. The three-dimensional musculoskeletal model of lower extremities was constructed by gait analysis and transformation software for one above-knee amputee and ten healthy people. The measured ground reaction forces and kinematical data of each joint by gait analysis were used as input data during inverse dynamic analysis. Lastly, dynamic analysis of above-knee amputee during stair climbing were performed using musculoskeletal models. The results showed that summed muscle farces of hip extensor of amputated leg were greater than those of sound leg but the opposite results were revealed at hip abductor and knee flexor of amputated leg. We could also find that the higher moments at hip and knee joint of sound leg were needed to overcome the flexion moment caused by body weight and amputated leg. In conclusion, dynamic analysis using musculoskeletal models may be a useful mean to predict muscle forces and joint moments for specific motion tasks related to rehacilitation therapy..

• 대한물리치료과학회지
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• 제12권4호
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• pp.89-97
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• 2005

Objective: The purpose of this study was to access quality of life and evaluate pre and post surgery management for persons with lower limb amputations. Method: This study was designed as a telephone survey. The subjects were patients who underwent their lower limb amputation between January 1994, and February 2005 at Asan Medical Center in seoul. sixty one of 203 subjects had granted consent and were studied. Results: The major cause of below knee amputations was vascular disease. Traumatic injuries were more common among subjects with above knee amputations. 93.4% of subjects were in use of prosthesis and 70.1 days were required to fit the prosthesis. 68.4% of subjects were able to ambulate with single point cane or without assistive devices. 80.3% of subjects complained phantom pain. Most subjects expressed the unsatisfactory result regarding the functional usage of prosthesis and education from hospital. Conclusion: Pre and post surgery rehabilitation program will benefit to promote better functional status and quality of life for persons with lower limb amputations.

• 전기전자학회논문지
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• 제24권1호
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• pp.9-18
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• 2020

의족의 자동 보행 모드 변경 알고리즘 개발에는 주로 사용되는 패턴 인식 또는 퍼지 추론 기법을 이용하지만 즉각적인 보행 환경 변화에는 대응하기 어렵다는 단점을 가진다. 이러한 한계점을 해결하고자 본 논문에서는 한 보행 주기 내 특정 보행단계에서의 보행 환경 추정을 통해 다음 걸음의 보행 모드를 자동으로 변환하는 알고리즘을 개발하였다. 제안하는 알고리즘은 마이크로 컨트롤러 내에 이식되어 운용되어야 하므로 계산량과 추정 소요 시간을 고려하여 랜덤포레스트 기반을 사용하여 개발하였다. 개발된 랜덤포레스트 기반의 보행 단계 및 환경 추정 모델은 마이크로 컨트롤러 내에 이식되어 유효성 평가를 진행하였다.

• 한국전문물리치료학회지
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• 제3권1호
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• pp.65-72
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• 1996

The purpose of this study was to introduce rotation-plasty procedure and prosthetic ambulation training. The recent development of chemotherapy and diagnostic facility have permitted the orthopaedic surgeons to try limb saving procedures rather than amputations for the treatment of the malignant bone tumors. If the tumors around the knee joint were treated by mid-thigh amputation or hip disarticulation, it would impose the client with a great handicap for rehabilitation. Rotation-plasty procedure was first done by Borggreve, in 1930 for the congenital short femur. Recently this procedure was used a malignant bone tumor at the distal femur by Kotz and Salzer in 1982. In spite of its cosmetic problem of the distal stump, this procedure has the great functional advantage of converting the above-knee amputation to the below-knee amputation. The inverted foot was also good to control the prosthesis as a below-knee stump and heel functioned as a patella to support the body weight. This 15 years old girl case was had rotation-plasty due to osteosarcoma of the distal femur with 3rd postoperative chemotherapy, and admitted to Yonsei rehabilitation hospital for prosthetic ambulation training. Then, the case had excellent functional results of prosthetic ambulation training with rotaion-plasty after 3 months.

• 전기전자학회논문지
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• 제24권3호
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• pp.754-765
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• 2020

최근 다양한 환경에서의 보행과 특정 동작에서 해당 모드를 지원하는 지능형 대퇴 의족이 개발되고 있다. 계단 상행, 하행과 같은 특정 제어는 동작 전 모드를 변경해야하기 때문에 사용자의 의도를 기반으로 제어명령을 구분하는 기법이 필요하다. 따라서 본 논문에서는 지능형 대퇴 의족 시스템에서 사용자의 의도에 기반하여 다양한 제어명령을 구분할 수 있는 기법을 제안한다. 제안하는 기법은 근전도 신호의 보상이 필요하다고 판단되는 경우, 평상시의 근전도 신호의 세기 및 주파수 성분과 압력센서로 추정한 근육의 부피 정도의 상관관계를 이용하여 근전도 신호를 보상하는 것이며 실험을 통해 근피로가 축적되어 있는 상황에도 사용자의 의도를 정확하게 검출하는 것을 확인하였다. 향상된 사용자 의도 검출 기법을 통해 정해진 시간 내 근육의 수축 횟수를 기반으로 5개의 제어모드를 구분할 수 있도록 하였으며 실험 결과 운동 후 근피로로 인해 근신호의 세기가 평시와 다를 경우에도 근신호 보상을 통해 97.5%의 정확도를 갖는 것을 확인하였다.