• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.6-8
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• 2004

The objective of this paper is to develop a powered wheelchair controller based on EMG for users with high-level spinal cord injury using a proportional control scheme. An advantage of EMG is relative convenience of acquisition by a surface electrode to users. Direction information can be easily extracted from two EMG channels and force information can be acquired by proportional relationship between the amplitude of EMG and user's power, respectively. Pattern classification algorithm is a threshold method with a supervised learning process. Furthermore, the emergency situation can be avoided using an interrupt function. We evaluated the performance of powered wheelchair controller by navigating a pre-defined path with three non-handicapped people. The results show the feasibility of EMG as an input interface for powered wheelchair and other devices for the seriously disabled.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.41-49
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• 2005

Electromyogram (EMG) signal generated by voluntary contraction of muscles is often used in rehabilitation devices because of its distinct output characteristics compared to other bio-signals. This paper proposes a novel EMG-based human-computer interface for electric-powered wheelchair users with motor disabilities by C4 or C5 spine cord injury. User's commands to control the electric-powered wheelchair are represented by shoulder elevation motions, which are recognized by comparing EMG signals acquired from the levator scapulae muscles with a preset double threshold value. The interface commands for controlling the electric-powered wheelchair consist of combinations of left-, right- and both-shoulders elevation motions. To achieve a real-time interface, we implement an EMG processing hardware composed of analog amplifiers, filters, a mean absolute value circuit and a high-speed microprocessor. The experimental results using an implemented real-time hardware and an electric-powered wheelchair showed that the EMG-based human-computer interface is feasible for the users with severe motor disabilities.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1177-1178
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• 2012

• Therapeutic Science for Rehabilitation
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• v.4 no.2
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• pp.17-32
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• 2015

Purose : This study was to find the factors of guideline and expressing outcome about powered wheelchair use for children with disabilities. Method : The chosen studies were 38 published in Korea or abroad from 2000 to 2014, and the key research is 2 review articles among them. And 19 studies were used by first search and 2 review articles to find outcome factors and categorize followed ICF terminology. Moreover, 2 studies were analysed to find the guidelines about powered wheelchair use for children with disabilities. Result : All reviewed researches were published abroad. These suggested that powered wheelchair use for children with disabilities didn't affect delayed development but many advantages. And they recommended checking information about the guideline, child, parents and environmental support befor applying the powered wheelchair to children with disabilities. Also, they usually used participation level to express outcome about powered mobility use. Conclusion : The power wheelchair was useful means of mobility for children who were delayed movement, and it was important strategy to apply the powered wheelchair early for promote children's development and participation normally. Finally, professionals needed to intervene contextual approaches concerning children's families and environment, also institutional and social effort.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.3
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• pp.237-243
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• 2015

As one of the most widely used assistive technology devices for the disabled in Korea, the powered wheelchair conforms to KS P ISO 7176-5 standard size which uses original version of international standard, ISO 7176-5 without technological modification. However, the international standard is not suitable for the disabled in Korea because it defines the size of wheelchair based on the body size of foreigners, which causes imbalanced posture due to limitation of movement or rotation of pelvis, pressure ulcer incidence due to excessive pressure on the thigh or popliteal space and calf, and safety of reduction due to improper posture. This study suggested the guidance of size for powered wheelchair based on human body size examined by Korean Agency for Technology and Standards, showing a great difference from the size defined in KS P ISO 7176-5 and accordingly redefinition for the size of powered wheelchair is needed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.84.5-84
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• 2001

The objective of this paper is to develop a powered wheelchair controller based on EMG for users with high-level spinal cord injury. EMG is very naturally measured when the user Indicating a certain direction, and the force information which will be used for the speed of wheelchair is easily extracted from EMG. Furthermore, the emergency situation based on EMG will be checked relatively ease. We classified the pre-defined motions such as rest case, forward movement, left movement, and right movement by Fuzzy Min-Max Neural Networks (FMMNN). This classification results shows the feasibility of EMG as an input interface for powered wheelchair. To make the system low cost and small size, we developed EMG AMP and its controller ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1467-1468
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.1021-1022
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.649-650
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• 2010