• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.92-95
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• 2004

This study proposes an industrial rehabilitation robot system which can exercise two joints in 3 dimensional spaces. The robot kinematics analysis and the results of studies on each joint for the rehabilitation robot could verify possibility of rehabilitation motion to exercise a joint. The force and torques sensor not only measures a rehabilitation performance of subjects between the abnormal limb and the manipulator, but also carries out an important function of safety device to prevent accidents. Also, limit sensors and emergency stop switch are used for high safety in this system. In this real test, the possibility of rehabilitation robot system is evaluated by C&R ARM I which is similar to upper-limb.

• 재활복지공학회논문지
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• 제10권1호
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• pp.73-79
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• 2016

본 논문에서는 경부통증완화에 효과적인 맥킨지 운동(Mckenzie exercise)이 가능한 경부 재활로봇(cervical rehabilitation robot)을 제안한다. 이 로봇은 목의 좌우 측방굴곡, 전방향의 굴곡 및 후방향의 신전이 가능하도록 2자유도를 가지며, 맥킨지의 경부 스트레칭과 등척성 운동이 가능하다. 재활로봇의 기구부는 의자에 거치할 수 있어 가정에서 의자에 앉은 채로 맥킨지 운동을 할 수 있도록 설계하였다. 실험에서는 피험자가 프로토타입 경부 재활로봇을 착용하고 맥킨지 운동을 수행시 전후좌우의 굴곡과 신전 각도를 측정하고, 동시에 목주위의 표면 근전도와 머리부착부위의 압력을 측정하여 로봇의 성능을 평가하였다. 이 실험의 결과로부터 본 연구에서 제안한 경부 맥킨지 운동용 재활로봇이 적용가능함을 보였다.

• 한국정밀공학회지
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• 제20권11호
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• pp.171-179
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• 2003

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

• 한국정밀공학회지
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• 제26권4호
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• pp.64-71
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• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• Advances in robotics research
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• 제1권2호
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• pp.155-169
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• 2014

Study results in the last decades show that amount and quality of physical exercises, then the active participation, and now the cognitive involvement of patient in rehabilitation training are known of crux to enhance recovery outcome of motor dysfunction patients after stroke. Rehabilitation robots mainly have been developing along this direction to satisfy requirements of recovery therapy, or focusing on one or more of the above three points. Therefore, neuro-machine interaction based active rehabilitation robot has been proposed for assisting paralyzed limb performing designed tasks, which utilizes motor related EEG, UCSDI (Ultrasound Current Source Density Imaging), EMG for rehabilitation robot control and feeds back the multi-sensory interaction information such as visual, auditory, force, haptic sensation to the patient simultaneously. This neuro-controlled and perceptual rehabilitation robot will bring great benefits to post-stroke patients. In order to develop such kind of robot, some key technologies such as noninvasive precise detection of neural signal and realistic sensation feedback need to be solved. There are still some grand challenges in solving the fundamental questions to develop and optimize such kind of neuro-machine interaction based active rehabilitation robot.

• 로봇학회논문지
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• 제16권3호
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• pp.223-231
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• 2021

In this paper describes the research and development of a pipe robot for pipe rehabilitation construction of old water pipes. After the water supply pipe construction, the pipe is leaking, damaged, and aging due to corrosion. Eventually, resistance to the flow of water in lower supply efficiency and contaminated water such as rusty water, finally in various consumer complaints. In order to solve this problem, rehabilitation construction robot technology is required to secure the construction quality of pipe rehabilitation construction and restore the function of the initial construction period. The developed pipe rehabilitation construction robot required a hydraulic actuator for high traction and was equipped with a small hydraulic supply device. In addition, we have developed a hydraulic cylinder and a link system that supports the pipe inner diameter to develop a single pipe robot corresponding to 500 to 800mm pipe diameter. The analysis and experimental verification of the driving performance and unit function of the developed pipe reconstruction robot are explained, and the result of the integrated performance test of the pipe reconstruction robot at the water supply pipe network site is explained.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.357-363
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• 2013

Most serious patients who have the paralysis of their ankles can't use of their feet freely. But their ankles can be recovered by an ankle bending rehabilitation exercise and a ankle rotating rehabilitation exercise. Recently, the professional rehabilitation therapeutists are much less than stroke patients in number. Therefore, the ankle-rehabilitation robot should be developed. The developed robot can be dangerous because it can't measure the applied bending force and twisting moment of the patients' ankles. In this paper, the six-axis force/moment sensor for the ankle-rehabilitation robot was specially designed the weight of foot and the applied force to foot in rehabilitation exercise. As a test results, the interference error of the six-axis force/moment sensor was less than 2.51%. It is thought that the sensor can be used to measure the bending force and twisting moment of the patients' ankles in rehabilitation exercise.

• 한국의류학회지
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• 제44권6호
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• pp.1107-1119
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• 2020

This study analyzed a subject's body reaction and subjective sensation when wearing a gait-assistive rehabilitation robot. The research method measured skin and clothing surface temperatures for 'seating-standing' and 'walking in place' exercises after wearing a gait-assistive rehabilitation robot. In addition, subjective sensation and satisfaction were evaluated on a 7-point Likert scale. The study results showed that the average skin temperature during exercise while wearing the gait-assistive rehabilitation robot was within a comfortable range. However, during the 'seating-standing' exercise, the skin temperature was slightly lowered. Additionally, the clothing surface temperature tended to be lower than the pre-exercise temperature after all exercises. The subjective sensation evaluation results showed that the wear comfort of the waist part was low during mobility/activity. In addition, an overall improvement in the wear comfort of the robot is necessary. The short-time movement of wearing and walking in the gait-assistive rehabilitation robot did not interfere with the thermal comfort of the body. However, the robot needs to be ergonomically improved in consideration of the long wearing time along with improved material that to satisfy overall wearing comfort.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.315-322
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• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• 로봇학회논문지
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• 제18권4호
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• pp.376-384
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• 2023

In this paper, we introduce an upper extremity rehabilitation robot, NREH (NRC End-effector based Rehabilitation arm at Home). Through NREH, stroke survivors could continuously exercise their upper extremities at home. NREH allows a user to hold the handle of the end-effector of the robot arm. NREH is a end-effector-based robot that moves the arm on a two-dimensional plane, but the tilt angle can be adjusted to mimic a movement similar to that in a three-dimensional space. Depending on the tilting angle, it is possible to perform customized exercises that can adjust the difficulty for each user. The user can sit down facing the robot and perform exercises such as arm reaching. When the user sits 90 degrees sideways, the user can also exercise their arms on a plane parallel to the sagittal plane. NREH was designed to be as simple as possible considering its use at home. By applying error augmentation, the exercise effect can be increased, and assistance force or resistance force can be applied as needed. Using an encoder on two actuators and a force/torque sensor on the end-effector, NREH can continuously collect and analyze the user's movement data.