• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.

• Physical Therapy Korea
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• v.14 no.2
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• pp.1-10
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• 2007

The purpose of this experiment was to investigate the applicability of audio-visual modeling for improving the efficiency of rehabilitative programs by analyzing the effects of observing these various models on the capacity of stroke patients to perform upper limb activities. Twenty-one stroke patients participated in the experiment and were randomly assigned to either task modeling, sport modeling, or control group. During 2 weeks of intervention, subjects in all groups participated in the physical practice of experimental tasks. These tasks comprised of a Nine Hole Peg Test, the Jebsen-Taylor Hand Function tests, and locomotion. These tasks were performed 5 days a week, 30 min per day. In addition to the physical practice, the task modeling group observed a model performing experimental tasks and locomotive activities for 20 min, while the sport modeling group observed a model performing various sport activities for 20 min. Subjects' ability to perform the experimental tasks was measured 3 times, before, immediately after, and 1 week after the intervention. Analyses of the capacity to perform upper extremity activities displayed significant improvement from the pre-test to immediate and delayed post-tests in all groups. However, the amount of improvement was the highest in the task modeling group. The task modeling group was superior to the control group in the post-test of all experimental tasks, whereas the sport modeling group did not display significant differences from the control group. These results suggest that audio-visual modeling can be used as an effective cognitive intervention for facilitating the rehabilitation of stroke patients, and its rehabilitative effect can be maximized when the program is comprised of performance scenes directly related to the target task.