• 로봇학회논문지
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• 제15권4호
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• 한국치위생학회지
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• 제9권2호
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• pp.147-163
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• 2009

This study was attempted in order to look into 'Assist work' as to Implant system which dental hygienists perform in a clinical field. Subjects of this research were 362 dental hygienists who work at general hospital, University hospital, dental hospital, and dental clinics located in Seoul, Kyeong-gi, In-chon, and Jeon-buk area. As to research tool, we produced questionnaire which was comprised of the total 25 items regarding 3 of general features (age, career of dental hygienist, and personality), 6 of implant system assist work, 3 of Informed consent before surgery, 6 of preoperative preparation and maintenance related business, and 7 items related to postoperative maintenance. By using SPSS program, collected data was analyzed. Results of analysis in this study were as follow; 1. As to implant related education, dental hygienists' experience of education was high as 77.7%, and the people who is needed more education was 86.3%. Consequently, dental hygienists' concern about the implant related education was very high. 2. It was observed that most of informed consent making approvement by announcement to the surgical operation was made by dental hygienist before implant as 95%. 3. Over 80% of dental hygienists performed acquisition of cleanliness technology, motivation, back up articles preparation, treatment area arrangement, and etc. which we can check by preoperative maintenance items. In particular, response about the motivation was very high as more than 90%. 4. When performing an operation, in the case of disinfecting finger was low for 53.9% and the method was mainly washing with drug solution, and gown sterilization was performed only in 52.2%. Therefore education regarding disinfection was urgently needed. 5. Significance of education could be known that answers of hygienists experienced education appeared highly in items of maintenance method and there was statistically significant difference(p<0.05). 6. In case that assist work were 21cases or greater, agitation measurement was the most many performed in 68.9% and difference was showed up significantly(p<0.001). 7. Evaluation about periodontal tissue was high in dental hygienists who had experienced education and also there was statistically significant difference. In conclusion, assist work of dental hygienists was very comprehensive when implant surgery was performed, and all of items excluding hand disinfection or gown disinfection were highly showed up in most of hygienists. However, since there is the limit that we didn't investigate the quality of performing contents. It is considered that further study regarding the content has to be progressed for supporting this result in the future.

• 문화기술의 융합
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• 제9권2호
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• pp.143-150
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• 2023

우리나라의 1인당 국민소득이 증가하면서 장애인의 삶의 질 향상을 위한 다양한 여가 활동에 참여가 장려되고있다. 그러나 여가활동 참여를 위해서는 여가가 행해지는 장소까지의 이동이 선행되어야 하므로, 장애인의 여가활동을 위한 이동수단에 대한 관심이 커지고 있다. 수동 및 전동 휠체어는 여가활동을 위한 이동수단으로서 각각의 단점을 가지고 있어서 수동 휠체어에 전동 휠체어의 기능을 접합하는 휠체어 동력보조 장치에 대한 관심이 높아지고있다. 본 연구에서는 휠체어 동력보조 장치 제품들의 FDA 승인 과정을 조사하고, 세계 각국에서 생산하는 측면부착형, 전방부착형, 하방부착형, 후방부착형 휠체어 동력보조 장치들의 특성을 파악하였다. 이러한 정보들은 국내 장애인 및 보조인들이 환자의 상태에 따라 최적의 제품을 선택하는데 큰 도움이 될 것이다. 장애인들이 자신에게 적합한 동력 보조 장치를 선택할 수 있도록 많은 사용적합성 시험과 임상사례 연구가 필요하다.

• 로봇학회논문지
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• 제5권4호
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• 한국자동차공학회논문집
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• 제19권1호
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• pp.9-16
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• 2011

Research on ISA(Integrated Starter/Alternator) receives wide attention as system voltage is increased to 42V Based on requirement of starter and alternator for the conventional vehicle, system requirement and specification are determined. Also to control proposed system, suitable control methods are proposed. Main control issues with ISA are whether torque assist is required and if so how much torque is needed. In this paper, vehicle performance with various control methods and capacity are simulated and simulation results are analyzed. Vehicle performance is analyzed with vehicle simulator. For the simulation, suitable ISA model is also developed.

• 로봇학회논문지
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• 제12권2호
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• pp.144-151
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• 2017

An important characteristic of people with partially impaired walking ability, such as incomplete paraplegics, is that they are able to generate voluntary motion of lower-limbs. Therefore, wearable robots for the incomplete paraplegic patients require a different assistance method compared to those of complete paraplegics. First, the wearable robot should be controlled to not resist wearer's motion. Second, it should be able to generate assistive torque accurately when needed. In this paper, a wearable robot, called EROWA, for the incomplete paraplegic patients is introduced. EROWA utilizes compact rotary series elastic actuators (cRSEAs) and a control method called the zero impedance control to reduce the mechanical resistance. An assistive torque trajectory is proposed to assist gait in this paper. The proposed method is verified by simulation and experimental studies.

• 로봇학회논문지
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• 제18권4호
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• pp.376-384
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• 2023

In this paper, we introduce an upper extremity rehabilitation robot, NREH (NRC End-effector based Rehabilitation arm at Home). Through NREH, stroke survivors could continuously exercise their upper extremities at home. NREH allows a user to hold the handle of the end-effector of the robot arm. NREH is a end-effector-based robot that moves the arm on a two-dimensional plane, but the tilt angle can be adjusted to mimic a movement similar to that in a three-dimensional space. Depending on the tilting angle, it is possible to perform customized exercises that can adjust the difficulty for each user. The user can sit down facing the robot and perform exercises such as arm reaching. When the user sits 90 degrees sideways, the user can also exercise their arms on a plane parallel to the sagittal plane. NREH was designed to be as simple as possible considering its use at home. By applying error augmentation, the exercise effect can be increased, and assistance force or resistance force can be applied as needed. Using an encoder on two actuators and a force/torque sensor on the end-effector, NREH can continuously collect and analyze the user's movement data.

• Journal of Mechanical Science and Technology
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• 제14권8호
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• pp.836-844
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• 2000

In this research any abnormal motion of a vehicle is detected by utilizing the difference between the reference and actual yaw velocities as sell as the information on vehicle slip angle and slip angular velocity. This information is then used as a criterion for execution of the yaw moment control. A yaw moment control algorithm based on the brake control is proposed for improving the directional stability of the vehicle. The controller executes brake controls to provide each wheel with adequate brake pressures, which generate the needed yaw moment. It is shown that the proposed yaw moment control logic can provide excellent cornering capabilities even on low friction roads. This active control scheme can prevent a vehicle from behaving abnormally, and can assist normal drivers in coping with dangerous situations as well as experienced drivers.

• 대한한의학회지
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• 제44권4호
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• pp.59-71
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• 2023

Objectives: The new educational system emphasizes acquisition of clinical competency by the time of graduation from Korean medicine colleges that allow Korean medicine doctors to immediately perform clinical tasks. This study investigated awareness of competency-based education in Korean medicine hospital residents who must simultaneously undergo training and assist medical students in clinical practice. Methods: This was a qualitative research that was conducted using focus group interviews (FGIs) to investigate the awareness of demands for improvement in competency-based Korean medicine education in Korean medicine hospital. To apply the principles and procedures of FGIs, a semi-structured questionnaire was developed. Data analysis was conducted using the five steps of framework analysis. Results: According to contents analysis, first competency-based education that reflects actual clinical practice tasks is needed. Second, sufficient basic skill mastery education must be reinforced. Third, an intermediate curriculum that mediates clinical practice and basic education is needed. Fourth, the Objective Structured Clinical Examination and Clinical Performance Examination must be expanded to prepare for the Korean medicine doctor practical test. Conclusions: Korean medicine residents reported the gap between clinical practice and use of knowledge and skills acquired in the curriculum while acting as direct observers and educations of clinical clerkship in hospitals. Based on this exploratory study it is necessary to conduct research on the educational competency of Korean medicine residents who play an important role as educational leaders in Korean medicine clinical practice training.

• 반도체디스플레이기술학회지
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• 제14권3호
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• pp.1-5
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• 2015

In photolithography process, resolution enhancement techniques such as optical proximity correction (OPC) and phase shift mask (PSM) have been applied to improve resolution. Especially, sub-resolution assist feature (SRAF) is one of the most important OPC to enhance image quality including depth of focus (DOF). However, imaging performance of the mask could be varied with the diffraction order amplitude changed by inserting SRAF. Therefore, in this study, we investigated the imaging properties and process margin of attenuated PSM with SRAF. Reflectivities of attenuated PSMs at 13.5 nm were 3, 6, 9% and simulation was performed by $PROLITH^{TM}$. As a result, aerial image properties and DOF as well as diffraction efficiency were improved by increasing the reflectivity of attenuated PSM. Additionally, printed critical dimension variations depending on SRAF width and space error were also reduced for attenuated PSM with high reflectivity. However, SRAF could be printed when reflectivity of attenuated PSM is high enough. In conclusion, optimization of reflectivity of attenuated PSM and SRAF to prevent side-lobe from being printed is needed to be considered.