• Journal of the Korean Society for Precision Engineering
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• v.26 no.7
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• pp.134-141
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• 2009

Recently, many researchers have tried to develop wearable robots for various fields such as medical and military purposes. We have been studying robotic exoskeletons to assist the motion of persons who have problems with their muscle function in daily activities and rehabilitation. The upper-limb motions (shoulder, elbow and wrist motion) are especially important for such persons to perform daily activities. Generally for shoulder motion 300F is needed to describe its motion(extension/flexion, abduction/adduction, internal/external rotation) but we have used a redundant actuator thus making a 4 DOF system. In this paper, we proposed the mechanism design of the exoskeleton which consists of 4-DOF for shoulder and 1-DOF for elbow robotic exoskeleton to assist upper-limb motion. Then we compared the new mechanism design and prototype mechanism design. Here we also analyze the proposed system kinematically to find out and to avoid the singular point. This research will ensure that the proposed wearable robot system make human's motion more powerfully and more easily.

• Journal of Biomedical Engineering Research
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• v.29 no.5
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• pp.400-407
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• 2008

A health index was proposed that evaluates personal health state from both measured physiological variables and survey questions. Four health indices were defined such as cardiovascular index, stress index, obesity index, and management index. The total health index was calculated by summing these four health indices. Physiological variables such as blood pressure, heart rate variability(HRV), accelerated photoplethysmograph(APG), and body fat percentage were non-invasively measured and a survey questionnaire that asks personal health state, exercise intensity, and food preference was developed. The suggested health index was applied to thirty eight persons including 30 patients and 8 normal persons with an average age of 51.8. The average health index was estimated to be 75.1 out of 100 points. Young age group(below 50) and men group showed higher health indices than the aged(over 50) and women groups. The correlation coefficient between the cardiovascular index and stress index was found to be 0.513, which means stress is related to cardiovascular health state. The correlation coefficient between the measurements and survey questions was 0.385 for the cardiovascular index. It was as low as 0.182 for the stress index. More case studies may improve correlations between measurements and survey questions, and then, the current health index system may develop as an effective tool to evaluate personal health state.

• Archives of Plastic Surgery
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• v.44 no.6
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• pp.550-553
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• 2017

Esophageal perforation is a rare but potentially fatal complication of robot-assisted thyroidectomy (RAT). Herein, we report the long-term outcome of an esophageal reconstruction with a jejunal free flap for esophageal rupture after RAT. A 33-year-old woman developed subcutaneous emphysema and hoarseness on postoperative day1 following RAT. Esophageal rupture was diagnosed by computed tomography and endoscopy, and immediate surgical exploration confirmed esophageal rupture, as well as recurrent laryngeal nerve injury. We performed a jejunal free flap repair of the 8-cm defect in the esophagus. End-to-side microvascular anastomoses were created between the right external carotid artery and the jejunal branches of the superior mesenteric artery, and end-to-end anastomosis was performed between the external jugular vein and the jejunal vein. The right recurrent laryngeal nerve injury was repaired with a 4-cm nerve graft from the right ansa cervicalis. Esophagography at 1 year after surgery confirmed that there were no leaks or structures, endoscopy at 1 year confirmed the resolution of vocal cord paralysis, and there were no residual problems with swallowing or speech at a 5-year follow-up examination. RAT requires experienced surgeons with a thorough knowledge of anatomy, as well as adequate resources to quickly and competently address potentially severe complications such as esophageal rupture.

• Journal of Biomedical Engineering Research
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• v.18 no.4
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• pp.447-456
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• 1997

When the disabled is operating a rehabilitation assisting system with a joystick by himself, unlike in the case of a normal person, tremor with joystick control or instant miscontrol can often occur. If these misoperations should be directly relayed to the system, shaking or malfunction of the mobile rehabilitation assisting system might be the result. The safety of the disabled is of prime concern. To solve this problem, that is, to prevent the miscontrol of the disabled operator and avoid crashes into his or her surroundings, we propose the force-reflection locomotion algorithm with the joystick. This method uses ultrasonic sensors to measure the distance between the object and mobile robot. Based on the reception of sensory data, the necessary torque is applied via the joystick to the attatched motor. To confirm the effectiveness of the proposed method, the subjects on the reflected force by the dynamic characteristics of the joystick and the reflected force by the distance information are tested Even though there are some differences in human dexterity, we confirmed the fact that the information from the obstacles was relayed to the operator via the joystick and resulted in an improved operational performance and safety level with regard to those obstacles.

• 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

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2356-2361
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• 2003

Proteome research in the medical field is expected to accelerate the understanding of disease mechanism, and to create new diagnostic concept. For protein profiling, this paper proposes a new methodology named CPDIB (Crude Protein Direct Blotting). In the CPDIB procedure, crude protein sample is directly immobilized on a membrane and the expression of protein molecules in the sample are analyzed quantitatively by using a special device called ImmobiChip, where the membrane is used as a field of the immune reaction. The over-all structure of the ImmobiChip is based on the conventional Slot blot device. Mechanical improvement in the air-tightness of the case holding the membrane realizes the direct blotting and results in high performance of stability in the immune reaction. In the measurement of multiple proteins, a dispensing robot is used for increasing the efficiency of handling of liquid. Cooperation of the dispensing robot with the ImmobiChip for immobilizing proteins realizes automated and stable performance of the CPDIB procedure. This paper shows the evaluation of the air-tightness of the ImmobiChip, the ability of analyzing proteins using the CPDIB procedure and the performance of the automated equipment.

• Journal of Convergence Society for SMB
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• v.4 no.1
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• pp.17-29
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• 2014

The wireless capsule endoscopy played an important role as the evolutionary medical device to solving the difficulties such as diagnosing the intestine diseases. Due to the limited size and functions, it has some drawbacks. The most obstacle thing is the disability of self-motion, it means that it cannot provide the speed problem. Hence, the characteristics of human digestion system is briefly introduced, especially the intestine, to get the information of endoscopy dynamics. Next, in order to make an abstraction of the condition, a new dynamic friction model called LuGre model is introduced and clearly analysed to get the characteristics and the usage of the model. By the consideration of parameters that are tightly related with the real situation of the capsule endoscopy. The Matlab Simulink was applied to build the model and verified by the simulation to discover the features.

• Journal of information and communication convergence engineering
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• v.8 no.5
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• pp.586-590
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• 2010

Medical technology is gradually being developed by applying information technologies. Especially, RFID technology is being used for precise disease history information of patients [4]. And in case the patient is far away, the patient can be treated using network communication of the internet [5][6]. The internet makes us to treat or operate the patient without being restricted to time or space. If the above technologies are made as a system, the patient can be treated or operated without being restricted to time or space. In this paper, we present a patient treatment system has been implemented with a system using RFID and network communication of the internet [1][2][3][4]. The system is driven as follows. First, the information of patient can be checked from a remote PC, if the tag that a patient has been read through a reader. And a remote treatment is performed by controlling robot's arm with a joystick using internet network [19][20][21]. The RFID system was implemented in frequency of 125 KHz [1]. The information of patient can be checked with PDA, PC and C-LCD using Bluetooth and WLAN [7][8][9][10]. For the treatment and operation of the patient, the robot's arm has been formed using AX-12 motor, joystick and two buttons [11][12][13][14][15] [17][18].

• Journal of Biomedical Engineering Research
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• v.17 no.1
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• pp.1-10
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• 1996

In this paper, describe the automatic climbing wheelchair system use an articulated crawler mobile robot. This wheelchair system(call system) is composed of sensor detecting part and wireless communication part with PC. The sensor parts are consisted of sloping sensor and ultrasonic sensor part. The sloping sensor measures the sloping angle of system, and the ultrasonic sensor measures the distance of system's front wheel center from stair. PC will generate the operation data to climb up the stair using the measured data and make primitives for the system. At firsts This system transfer from sensor data to the PC. PC calculate the operation data to climb up the stair from the internal algorithm. We simulated the system in various stair angle slope($25^{\circ}$, $30^{\circ}$, $45^{\circ}$), and tested it on the real staircase with width 37cm, highlt 18cm, Angle $26^{\circ}$ . There were $0.350^{\circ}$ - $1.060^{\circ}$ Angle errors while climbing because adapted sensor has a precision $0.35^{\circ}$ in resolution. Finally, We implemented the sensor detecting part and the wireless communication park and practiced our system in 4cm/sec speed.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.565-570
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• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.