• 재활복지공학회논문지
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• 제5권1호
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• pp.79-85
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• 2011

본 논문은 뇌졸중에 의한 상지 편마비 환자의 재활훈련을 위한 동력보조형 상지재활훈련기의 설계를 제안하였다. 설계된 상지재활훈련기는 3자유도를 가지고 있으며, 검지와 손목은 독립적으로, 그리고 나머지 손가락은 하나의 모듈로 굽힘과 폄 동작이 가능하다. 손목 기구는 복동식 공암실린더를, 손가락 기구에는 두 개의 전동식 선형구동기를 적용하여 동작을 보조하도록 하였다. 설계를 기반으로 프로토타입 상지재활훈련기를 제작하였으며, 0.8mm이내의 오차로 정상상태에 수렴하도록 위치제어기를 구현하였다. 실험의 결과로부터 동력보조용 상지훈련기가 실현가능함을 보였다.

• 감성과학
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• 제17권3호
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• pp.129-142
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• 2014

오늘날 고령인구의 증가와 장애인 인구의 증가로 인해 재활훈련기의 수요가 증가하고 있고, 재활훈련기와 사용자간의 제공받아야 할 서비스에 대한 평가 요소의 요구가 커지고 있다. 본 연구에서는 재활훈련기 디자인 평가에 있어서 평가 방안을 모색하기 위해 디자인 평가를 위한 기본 요소를 파악하고 이를 통하여 재활의료전문가, 의공학자, 디자이너들의 토의 및 분석, 실험을 통하여 새로운 평가 요소들을 도출하였다. 연구의 결과는 다음과 같이 요약된다. 첫째, 기존 디자인 평가 요소들을 수집, 분석하여 10가지의 재활훈련기 디자인 평가요소와 44개의 세부 평가항목을 구축하였다. 이는 앞으로 재활훈련기를 디자인하는데 있어서 중요한 평가 기준이 될 것이다. 둘째, 헬스케어 재활훈련기 디자인 개발 시 고려해야 할 디자인 평가요소로는 사용성, 인지성, 안전성, 학습성, 운동성, 내구성, 경제성, 공간성, 심미성, 환경성의 10가지 디자인 평가요소가 있다. 셋째, 환경성, 공간성, 인지성, 사용성, 경제성, 심미성의 디자인 평가요소는 제품디자인에서 공통적으로 고려해야 할 요소들이고, 학습성, 안전성, 운동성, 내구성의 요소는 재활훈련기 디자인 평가요소에서 매우 중요하게 고려해야 할 요소이다. 넷째, 재활훈련기 디자인 평가요소는 제품디자인요소에서 중요하게 고려되는 환경성, 공간성, 인지성, 사용성, 경제성, 심미성에 학습성, 안전성, 운동성, 내구성을 의 요소를 더해 중요하게 생각한 것이 기존 제품디자인 평가요소와 재활훈련기 디자인 평가요소의 차이점이다. 본 연구에서는 10개의 재활훈련기 디자인 평가요소와 44개의 세부 평가항목 구축에 대한 연구를 진행하였다. 이는 전체적인 재활훈련기 디자인 평가요소만을 연구한 것으로, 향후연구에서는 시 제품 제작을 통하여 평가요소들을 실제 재활훈련기 디자인에 적용해 보고, 미진한 점들을 수정 보완할 예정이다.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.413-420
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• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• Physical Therapy Rehabilitation Science
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• 제10권3호
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• pp.374-378
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• 2021

Objective: Bilateral movement training is an effective method for upper extremity rehabilitation of stroke. An approach to induce bilateral movement through functional electrical stimulation is attempted. The purpose of this study is to develop an EMG-triggered functional electrical stimulation device for upper extremity bilateral movement training in stroke patients and test its feasibility. Design: Feasibility and Pilot study design. Methods: We assessed muscle activation and kinematic data of the affected and unaffected upper extremities of a stroke patient during wrist flexion and extension with and without the device. Wireless EMG was used to evaluate muscle activity, and 12 3D infrared cameras were used to evaluate kinematic data. Results: We developed an EMG-triggered functional electrical stimulation device to enable bilateral arm training in stroke patients. A system for controlling functional electrical stimulation with signals received through a 2-channel EMG sensor was developed. The device consists of an EMG sensing unit, a functional electrical stimulation unit, and a control unit. There was asymmetry of movement between the two sides during wrist flexion and extension. With the device, the asymmetry was lowest at 60% of the threshold of the unaffected side. Conclusions: In this study, we developed an EMG-triggered FES device, and the pilot study result showed that the device reduces asymmetry.

• 한국산업융합학회 논문집
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• 제26권6_3호
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• pp.1315-1323
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• 2023

Rehabilitation assistive devices not only assist the rehabilitation therapy and daily life of the disabled and the elderly, but also assist the labor of their caregivers, so various functions are required to improve their quality of life. In this study, a design method considering its practicality is introduced for an active rehabilitation assistive device that can perform both standing and walking assistance by driving various actuators. For this purpose, the force required to assist standing was calculated using statics with the body segmentation method. Also, the overturning stability of the device was verified for various physical conditions and postures. The actuator in the active rehabilitation assistive device was operated by a patient using a graphical user interface in an embedded computer and a touch panel for easy usage. The detailed design was performed for implementation through the help of 3D-CAD and the finite element analysis, and a prototype was produced. Finally, it was proven that the design goal was satisfied by experimental validation.

• 대한기계학회논문집A
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• 제35권5호
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• pp.459-467
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• 2011

상지 운동기능 장애인의 재활치료에 대한 지속적인 관심과 훈련의 정량적인 평가가 요구되고 있다. 이러한 문제를 해결하기 위해서 햅틱 장치를 개발했다. 피험자가 햅틱 장치의 손잡이를 움직일 때, 가상의 힘을 제시하여 그들의 동작에 대해 어시스트력이나 항력을 제시할 수 있다. 개발한 상지 운동훈련 프로그램과 시스템의 유효성을 검토하기 위해, 5 명의 운동기능 장애인을 대상으로 직선동작 훈련 프로그램을 수행할 때의 손잡이 위치, 수행 속도, 손잡이의 오차 및 상지의 EMG 신호를 측정하였다. 5 명의 피험자의 손잡이의 궤적 및 EMG 활동이 유사함을 보였다. 이러한 결과는 가상 현실의 힘을 손잡이에 제시함으로써 EMG 활동이 증가하였다고 볼 수 있다. 본 실험의 결과, 객관적이며 정량적인 상지 재활치료 시스템의 개발 및 평가 방법이 시사되었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1021-1022
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• 2013

• 제어로봇시스템학회논문지
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• 제14권7호
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• pp.672-678
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• 2008

This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent's intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient's weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.

• 융합경영연구
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• 제6권4호
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• pp.17-27
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• 2018

Purpose - As Korea is reaching a post-aged society, the number of chronic illness is increasing, and the demand for rehabilitation medical device is growing. Although there is high potential for the growth in rehabilitation industry, because most of the related companies in Korea are relatively small, lacking capital or R&D resource, it is difficult for them to create an innovative product, and currently most of the high-tech equipments are imported. Therefore a medical device cluster, where business, research, medical institutes and universities may work cooperatively to enhance research development and solve issues is necessary for future development. Research design, data, methodology - In this method we have done a literature review of the rehabilitation industry and industrial cluster. Based on the studies, we have conducted an exploratory factor analysis by studying examples of foreign and domestic medical clusters and drawing success factors in forming a medical cluster. Next based on the studies we have conducted a survey to domestic medical device companies to find their difficulties and needs to form a successful medical device cluster. Results - This paper provides both theoretic review on success factors of forming a medical device cluster and practical analysis using case study and survey. Conclusion - The significance of this paper is that based on the literature review, we have compared actual examples of domestic/foreign medical clusters and drawn difference and coincidence between literature and actual cluster success factor. We were also able to conduct a survey on actual medical device companies and through the results we were able to search difficulties and necessities of medical device companies.

• 한국산업융합학회 논문집
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• 제26권1호
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• pp.15-26
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• 2023

In this study, an end-effector robot which is a two-axis delta robot type for upper-limb rehabilitation is designed. It is not only rehabilitation functions that has designed robot but also mechanical and electrical safety devices were constructed to ensure patient safety. By constructing the two-axis delta robot is combined with an LM guide, the operating range and rigidity required for rehabilitation were secured. The electrical safety system which is required for the medical robot was designed, and a safety strategy was established to ensure patient safety and it is applied in the integrated safety circuit. The safety is considered in whole design process from the robot's mechanical design to the electric control unit.