• Radiation Oncology Journal
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• v.34 no.1
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• pp.76-80
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• 2016

Pseudolymphoma is a nonspecific disease characterized by lesions with lymphomatous-appearing but benign accumulation of inflammatory cells. They generally present as small ulcero-nodular lesions confined to skin which often respond to local therapies. We describe an unusual presentation of an extensive and locally aggressive cutaneous pseudolymphoma in a 21-year-old male patient who presented with extensive cutaneous eruptions gradually progressing over 6 years to involve the entire circumference of his left arm. Magnetic resonance imaging scans of his left arm showed a lesion deeply infiltrating into the soft tissue reaching up to the humerus with intense periosteal reaction. He was successfully treated with radiotherapy after many failed attempts with surgery and chemotherapy.

• Physical Therapy Korea
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• v.16 no.1
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• pp.70-78
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• 2009

This study was designed to examine a 3-week modified constraint-induced movement therapy (CIMT) to the less-affected arm of patients with Parkinson's disease (PD) would improve function of the more-affected arm in PD. The subjects were 6 institutional older adults with PD and clients of the social welfare facilities. The subjects (2 men, 4 women) ranged in age from 66 to 90 years (mean age 77.2 yrs). Three clinical tests were used to determine the improvement of functional activity between before and after modified CIMT. The tests included Unified Parkinson's Disease Rating Scale (UPDRS). Wolf Motor Function Test (WMFT), and Action Research Arm Test (ARAT). There were significantly differences after the modified CIMT for time performance in WMFT and pinch in ARAT (p<.05), No significant difference was noted after the modified CIMT for UPDRS and functional ability scale in WMFT. Therefore, the modified CIMT might improve time performance and is available to therapeutic program helping them improve functional ability for upper extremity in Parkinson's disease.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.306-312
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• 2017

Recently, development of robot technology has been actively investigated that industrial robots are used in various other fields. However, the interface of the industrial robot is limited to the planned and manipulated path according to the target point and reaching time of the robot arm. Thus, it is not easy to create or change the various paths of the robot arm in other applications, and it is not easy to control the robot so that the robot arm passes the specific point precisely at the desired time during the course of the path. In order to overcome these limitations, this paper proposes a new-media content management platform that can manipulate 6 DOF industrial robot arm using 3D game engine. In this platform, the user can directly generate the motion of the robot arm in the UI based on the 3D game engine, and can drive the robot in real time with the generated motion. The proposed platform was verified using 3D game engine Unity3D and KUKA KR-120 robot.

• Clinics in Shoulder and Elbow
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• v.18 no.1
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• pp.13-20
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• 2015

Background: The purpose of this study is to assess the range of shoulder motion using an indirect evaluation method without physical examinations of patients based on questionnaires regarding several specific arm postures referenced by patient's own body parts. Methods: Nine criteria of specific shoulder motion including 4 forward flexion, 2 external rotation, and 3 internal rotation were decided as reference position which can represent a certain shoulder motion. Flexion contains postures such as lifting arm to waist-height, shoulder-height, eye-height, and raising arm above head with arm touching ears. External rotation comprises grasping ears and placing hands on back of the head. Vertebral height in internal rotation is determined by calculating the samples' motions, which are holding on to trouser belts, opposite-elbow, and scapula. These postures are included in questionnaires for patients to evaluate the validity and effectiveness of this indirect method. Results: The range of flexion was $77^{\circ}$ ($60^{\circ}$ to $100^{\circ}$), $96^{\circ}$ ($87^{\circ}$ to $115^{\circ}$), $135^{\circ}$ ($115^{\circ}$ to $150^{\circ}$), and $167^{\circ}$ ($150^{\circ}$ to $175^{\circ}$) when arms go up to waist, shoulder, eye, and high vertically. Range of external rotation was $39.6^{\circ}$ ($30^{\circ}$ to $50^{\circ}$) when grasping ears and $69.2^{\circ}$ ($60^{\circ}$ to $80^{\circ}$) with the hands on the back of the head. Range of internal rotation was L4 when placing trouser belts, T12 for holding opposite elbow, and T9 for reaching scapula. The mismatch rates of flexion, external rotation, and internal rotation were 11.6%, 9.6%, and 7.8%. Conclusions: The range of shoulder motion using this method is expected to be applied to an established shoulder scoring system which included shoulder motion evaluation item.

• Therapeutic Science for Rehabilitation
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• v.7 no.4
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• pp.79-91
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• 2018

Objective : The purpose of this study was to investigate the short-term effect of robot-assisted therapy to improve upper extremity function in subacute stroke. Method : This study was a retrospective study using the medical record. The subjects were 20 patients who were diagnosis with stroke within 6 months. All patients received general rehabilitation intervention during the experimental period and robot-assisted therapy and task-oriented training. Robot assisted therapy was composed of 1 sessions, 1hour per person and task-oriented training was same. For result analysis, descriptive statistics, paired t-test were used. Results : After intervention, all participants got 3D motion analysis about reaching. For the result, there was statistically significant improvement in smoothness in robot assisted therapy(p<.05). there was no statistically significant difference between robot assisted therapy and task-oriented training in speed, time. In this result, we knew the robot assisted therapy can short term effect in elbow joint during arm reaching. Conclusion : Robot assisted therapy is considered as alternative choice in clinical occupational therapy for improving upper extremity function in subacute stage stroke patients.

• PNF and Movement
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• v.18 no.3
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• pp.305-313
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• 2020

Purpose: The aim of this study was to investigate the relationship between a functional evaluation model and the Fugl-Meyer assessment (FMA) scale in evaluating the upper extremities of stroke patients Methods: Thirty-eight stroke patients were evaluated using the FMA and performed reaching and grasping motions using a three-dimensional motion analysis (Qquas 1 series, Qualisys AB, Sweden). The participants sat on a chair with a backrest. The position of the cup was located at a distance of 80% to the front arm length. The markers were attached to the sternum, acromion, elbow lateral epicondyle, ulnar styloid process, three metacarpal heads, and the distal phalanges of the thumb and index finger. The variables of the correlation between the functional evaluation model and the FMA scale were analyzed. Multiple regression (stepwise) was used to investigate the effect of the kinematic variables. Results: A significant negative correlation was found between the movement time (p < 0.05), movement unit (p < 0.05), and trunk displacement values (p < 0.05) in the FMA total scores, while a positive correlation was found between the peak velocity (p < 0.05) and maximum grip aperture values (p < 0.05). As a result of the multiple regression analysis, the most significant factor was the movement unit, followed by the general movement assessment and trunk displacement. The explained FMA total score value was 62%. Conclusion: This study presents a new functional evaluation model for assessing the reaching and grasping ability of stroke patients. The factors of the proposed functional evaluation model showed significant correlations with the FMA scale scores and confirmed that the new functional evaluation model explained the FMA by 67%. This suggests a new functional evaluation model for reaching and grasping stroke patients.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.17 no.1
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• pp.1-17
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• 1991

Multiport-600 Solar SimulatorR is one of the most recent and convenient in-strument for evaluation of sun protection factor(SPF). In this study, we examined the practicability of the SPF determining system using Multiport -600 and the effects of several factors-light sources, seasons and experimental animals-on the minimal erythema dose(MED) and SPF. We also tested the UV sensitivity according to the sites of Korean people, And the ultraviolet radiation reaching the earth's surface In Seoul have been observed for one year. As a result of this study, the determinig system for SPF using Multiport-600 was proved to be a good system in accuracy and time-saving. The biological activity of fluorescence UV lamp of PUVA-800R was significantly higher than natural light or solar simulator with Xe arc lamp, and the determined MED became lower in inverse proportion to room temperature rise. Skin sensitivity by ultraviolet adiation was hights. in order \circled1 back \circled2 inns, upper arm \circled3 outer upper arm \circled4 foream. We also observed that UV radiation intensity was highest at noon in july and 1 sun burn unit(MED) was 28 minutes at that time.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• The Journal of Korean Physical Therapy
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• v.29 no.2
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• pp.55-61
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• 2017

Purpose: The purpose of this study was to investigate the effects of a task-oriented upper arm exercise performed in a sitting position on either an unstable support surface or a stable support surface for children with cerebral palsy. Methods: We prospectively evaluated 18 children with cerebral palsy. Eight subjects were randomly assigned to each of the stable and unstable support surface groups. We performed the upper arm exercise three times a week for 6 weeks. To confirm the effects of the intervention, the berg balance scale test, modified functional reaching test (MFRT), timed up and go test (TUG), and Jebsen-Taylor hand function test were conducted before and after the study. Results: Significant differences were observed in MFRT and TUG between the experimental and control groups (p<0.05). In the Jebsen-Taylor hand function test, there were significant differences between the groups for the items picking up small objects, stacking checkers, lifting large light objects, and lifting large heavy objects (p<0.05), but not for writing and stimulation of feeding. Significant differences were observed between the groups in items of card turning, lifting large light objects, and lifting heavy objects. Conclusion: The purpose of this study was to evaluate the effectiveness of a task-oriented upper extremity exercise program for dynamic balance and hand function performed in a sitting position with either stable or unstable support by cerebral palsy patients. There were improvements in the two groups, but performing the exercise while sitting on an unstable support surface had a greater effect on dynamic balance and hand function than exercise while sitting on a stable supporting surface. The results of this study can be used to improve the daily lives of cerebral palsy patients.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1853-1858
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• 2004

This paper presents the development of a full order sliding mode controller for tracking problem of a class of uncertain dynamical system, in particular, the direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust fullorder sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.