• The Journal of Korean Physical Therapy
• /
• 제29권2호
• /
• pp.74-79
• /
• 2017

Purpose: The purpose of this study was to compare the effects of the FES-gait with augmented feedback training to the FES alone on the gait and functional performance in individuals with chronic stroke. Methods: This study used a pretest and posttest randomized control design. The subjects who signed the agreement were randomly divided into 12 experimental groups and 12 control groups. The experimental groups performed two types of augmented feedback training (knowledge of performance and knowledge of results) together with FES, and the control group performed FES on the TA and GM without augmented feedback and then walked for 30 minutes for 40 meters. Both the experimental groups and the control groups received training five times a week for four weeks. Results: The groups that received the FES with augmented feedback training significantly showed a greater improvement in single limb support (SLS) and gait velocity than the groups that received FES alone. In addition, timed up and go (TUG) test and six minute walk test (6MWT) showed a significant improvement in the groups that received FES with augmented feedback compared to the groups that received FES alone. Conclusion: Compared with the existing FES gait training, augmented feedback showed improvements in gait parameters, walking ability, and dynamic balance. The augmented feedback will be an important method that can provide motivation for motor learning to stroke patients.

• 로봇학회논문지
• /
• 제6권4호
• /
• pp.317-322
• /
• 2011

An augmented state feedback controller for a Wheeled Inverted Pendulum (WIP) is proposed in this research. The augmented state feedback controller is able to keep the WIP returning to the origin. Generally, the WIP has both stable and unstable equilibrium points. To keep the WIP over the unstable equilibrium point, the WIP consistently is being controlled. A simple state feedback controller is letting the WIP out of the origin when the center of gravity of the WIP locates out of the schematic center line. In some case of applications, it may not be desirable that the WIP is drifting out of the initial location. The proposed augmented state feedback controller is able to keep the WIP at the initial location whether its center of gravity lies out of the center line or not. Numerical simulations are carried out to show the validation of the augmented sated feedback controller.

• PNF and Movement
• /
• 제9권1호
• /
• pp.11-19
• /
• 2011

The purpose of this study was to investigate whether it makes difference to use of the Augmented Feedback Type(Verbal Feedback, VTR Feedback and Verbal & VTR Feedback) to hemiplegic adults on learning of motor skill. For the purpose 15 hemiplegic adults who are received rehabilitation program at H hospital in Hong-Sung, Choong-Nam Province. Subjects were classified into three groups by random assignment; the Verbal Feedback group, the VTR Feedback group and Verbal & VTR Feedback group. Each groups received 5 subjects from hemiplegic adults. Subjects were tested by Timed Up and Go test for 9 weeks. And to find out the improvement measured by Pre-Test, Acquisition Test and Retention Test. To find out the improvement of each group's measures took average and standard deviation. To probate the significance of difference between the improvement conducted the one-way ANOVA and to probate the significance of difference of Acquisition Test and Retention test conducted paired t-test. The results of this study were as follows; First, All of Augmented Feedback Types had a positive effect on hemiplegic adults to learning of motor skill. Second, The Verbal Feedback group and the VTR Feedback group had no significantly difference at Acquisition Test, But They had the most improvement at Retention Test. Third, In hemiplegic adults, the Verbal & VTR Feedback group had the highest Retention Effect.

• International Journal of Control, Automation, and Systems
• /
• 제3권1호
• /
• pp.56-69
• /
• 2005

In this paper, it is clearly shown that the two well-known necessary and sufficient conditions mp n as generic static output feedback pole-assignment and mp + d(m+p) n+d as generic minimum d-th order dynamic output feedback pole-assignment on complex field, unbelievably, do not match up each other in strictly proper linear systems. For the analysis, a diagram analysis is newly created (which is defined by the analysis of 'convoluted rectangular/dot diagrams' constructed via node-branch conversion of the signal flow graphs of output feedback gain loops). Under this diagram analysis, it is proved that the minimum d-th order dynamic output feedback compensator for pole-assignment in m-input, p-output, n-th order systems is quantitatively decomposed into static output feedback compensator and its associated d number of arbitrary 1st order dynamic elements in augmented (m+d)-input, (p+d)-output, (n+d)-th order systems. Total configuration of the mismatched data is presented in a Table.

• 한국전문물리치료학회지
• /
• 제27권2호
• /
• pp.126-132
• /
• 2020

Background: Augmented somatosensory feedback stimulates the mechanoreceptor to deliver information on bodily position, improving the postural control. The various types of such feedback include ankle-foot orthoses (AFOs) and vibration. The optimal feedback to mitigate postural sway remains unclear, as does the effect of augmented somatosensory feedback on muscle co-contraction. Objects: We compared postural sway and ankle muscle co-contraction without feedback (control) and with either of two forms of somatosensory feedback (AFOs and vibration). Methods: We recruited 15 healthy subjects and tested them under three feedback conditions (control, AFOs, vibration) with two sensory conditions (eyes open, or eyes closed and the head tilted back), in random order. Postural sway was measured using a force platform; the mean sway area of the 95% confidence ellipse (AREA) and the mean velocity of the center-of-pressure displacement (VEL) were assessed. Co-contraction of the tibialis anterior and gastrocnemius muscles was measured using electromyography and converted into a co-contraction index (CI). Results: We found significant main effects of the three feedback states on postural sway (AREA, VEL) and the CI. The two sensory conditions exerted significant main effects on postural sway (AREA and VEL). AFOs reduced postural sway to a level significantly lower than that of the control (p = 0.014, p < 0.001) or that afforded by vibration (p = 0.024, p < 0.001). In terms of CI amelioration, the AFOs condition was significantly better than the control (p = 0.004). Vibration did not significantly improve either postural sway or the CI compared to the control condition. There was no significant interaction effect between the three feedback conditions and the two sensory conditions. Conclusion: Lower-extremity devices such as AFOs enhance somatosensory perception, improving postural control and decreasing the CI during static standing.

• 전기의세계
• /
• 제23권2호
• /
• pp.46-54
• /
• 1974

The purposes of this paper are to deal with the design of m-input, m-output linear systems by the state variable feedback, and to extend the design capability of the state variable feedback design. The design requirements are decoupling and the exact realigation of desired transfer functions. Some methods are proposed to insert series compensators in the fixed plant in the cases when series compensators are needed to meet the input-output transfer matrix specification. The method for adding series compensators to the input channels of the fixed plant is shown by examples to lead both to the loss of the ability to decouple the augmented plant by the state variable feedback, and to the loss of desired zeroes. A method which avoids these two hazards is developed in which series compensators are put on the output channels of the fixed plant: it is proved that the augmented plant is F-invariant. By treating each subsystem individually, the designer can apply some of the previous developed knowledge of the state variable design of single-input, single-output systems.

• 정보통신설비학회논문지
• /
• 제10권4호
• /
• pp.143-147
• /
• 2011

The system using augmented reality can save the time and cost. It is verified in various fields under the possibility of a technology by solving unrealistic feeling in the virtual space. Therefore, augmented reality has a variety of the potential to be used. Generally, multimodal senses such as visual/auditory/tactile feed back are well known as a method for enhancing the immersion in case of interaction with virtual object. By adapting tangible object we can provide touch sensation to users. a 3D model of the same scale overlays the whole area of the tangible object; thus, the marker area is invisible. This contributes to enhancing immersive and natural images to users. Finally, multimodal feedback also creates better immersion. In this paper, sound feedback is considered. By further improving immersion learning augmented reality for children with the initial step learning content is presented. Augmented reality is in the intermediate stages between future world and real world as well as its adaptability is estimated more than virtual reality.

• International Journal of Control, Automation, and Systems
• /
• 제5권2호
• /
• pp.161-169
• /
• 2007

The PLL equivalent augmented system incorporated with state feedback is proposed in this paper. The optimal value of filter time constant of loop filter in the phase-locked loop control system and the optimal state feedback gain designed by using linear quadratic regulator approach are derived. This approach allows the PLL control system to employ the large value of the phase-frequency gain $K_d$ and voltage control oscillator gain $K_o$. In designing, the structure of phase-locked loop control system will be rearranged to be a phase-locked loop equivalent augmented system by including the structure of loop filter into the process and by considering the voltage control oscillator as an additional integrator. The designed controller consisting of state feedback gain matrix K and integral gain $k_1$ is an optimal controller. The integral gain $k_1$ related to weighting matrices q and R will be an optimal value for assigning the filter time constant of loop filter. The experimental results in controlling the second-order lag pressure process using two types of loop filters show that the system response is fast without steady-state error, the output disturbance effect rejection is fast and the tracking to step changes is good.

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2008년도 학술대회 1부
• /
• pp.456-460
• /
• 2008

`디지로그 북 (Digilog Book)' 은 아날로그 책과 디지털 콘텐츠의 장점을 통합함으로써, 아날로그적 감성과 디지털 오감을 함께 느끼도록 한다. 본 논문에서는 디지로그 북의 한 예로써, 범종 체험 시스템 구현에 관한 기술적인 사항을 언급한다. 시스템 구현은 사용자에게 다감각 피드백 (multisensory feedback) 을 제공, 책에 마커를 그림 마커로 대체하는 것, 책의 2D 평면에서 범종이 나올 의 효과, 범종 관찰을 위한 가상버튼을 손으로 누를 수 있도록 하는 부분, 감각형 객체를 이용하여 범종을 타종하는 것, 그리고 마지막으로 감각형 객체를 이용하여 범종의 특정 부분을 포인팅하여 특정 설명을 볼 수 있는 것을 포함한다. 본 논문에서 구현된 범종 체험 시스템은 사용자에게 우리나라의 문화유산을 체험해 볼 수 있는 교육적인 콘텐츠를 제공할 수 있다.

• 한국통신학회논문지
• /
• 제16권4호
• /
• pp.342-349
• /
• 1991

본 논문에서는 동작점에서 근사적인 선형화를 할수 없는 심한 비선형성을 갖는 시스템에 대하여 추종 및 외란제거 제어기의 설계방법을 제안한다. 제어기 합성에는 관측가능한 양만이 사용된다. 추종성과 외란의 제거가 가능하도록 시스템의 출력단에 보상기를 추가하여 비선형성을 제외한 전체 시스템에 시간지연 출력궤환제어를 사용하며, 기술함수방법을 사용하여 출력이 정격내의 값이 되도록 궤환매개변수를 선택하여 비선형성의 난점을 극복한다.