• The Journal of Korean Physical Therapy
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• 제35권1호
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• pp.8-12
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• 2023

Purpose: Recently, many studies on robotic rehabilitation have been conducted, but such studies on patients with ankle sprains are lacking. This study aimed to investigate the effects of robot-assisted rehabilitation on the range of motion of the ankle and balance in patients with ankle sprain. METHODS: This study used the A-B-A' design and was conducted for a total of fifteen days. The subjects performed general physical therapy for five days each, during the baseline A and A' periods. In period B, robot rehabilitation was performed for five days, along with general physical therapy. The subjects were evaluated based on weight-bearing lunge test (WBLT), single leg stance (SLS), and functional reach test (FRT). RESULTS: The WBLT, STS, and FRT showed significant improvement in periods B and A' compared to period A, but there was no significant improvement in period A' compared to period B. Conclusion: This study confirmed that robot-assisted rehabilitation was an effective intervention for improving the function of patients with ankle sprain. In the future, a study with a control group comparison should be performed.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• 재활복지공학회논문지
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• 제8권2호
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• pp.73-78
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• 2014

이 논문은 팔꿈치 재활 훈련에 있어서 거울치료 기법을 적용한 착용형 재활로봇을 제안한다. 거울치료는 건측의 팔꿈치 동작을 측정하여, 환측의 팔꿈치 훈련을 하는 것이다. 이를 위해 환측의 재활을 위한 착용형 장치 뿐만 아니라 건측 팔꿈치 동작을 측정하기 위한 착용형 센서도 개발하였다. 착용형 장치는 인체의 팔꿈치 구조를 고려하여 설계하였다. 착용형 센서는 굽힘센서와 광파이버를 이용한 센서를 각각 개발하여 센터의 특성을 평가하였다. 개발된 거울치료형 팔꿈치 재활로봇은 피험자의 동작에 따른 동작특성을 3차원 모션 측정장치로 평가하였다. 실험의 결과는 이 연구에서 개발된 착용형 팔꿈치 재활로봇이 적용 가능함을 보였다.

• Physical Therapy Rehabilitation Science
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• 제11권2호
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• pp.235-244
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• 2022

Objective: The aim of this study was to investigate of the foot plantar pressure and usability after gait training using the ExoAtlet wearable exoskeleton robot in an incomplete spinal cord injury (SCI) patient. Design: A case study Methods: Six participants with an asymmetry in motor and sensory function completed the gait training using ExoAtlet wearable exoskeleton robot for 15 sessions, five per weeks, 3weeks. They were divided into two groups (low and high strength group) and group differences were evaluated about session at stating of gait, gait distance at final session and foot plantar pressures and useability after training. Results: Low strength group was faster than high strength group on adaptation of robot gait. And high strength group increased faster than low strength group on the gait distance during training. In standing and gait, weaker leg was higher than stronger leg on mean foot plantar pressure in low strength group. And stronger leg was higher than weaker leg on foot plantar pressure in high strength group. The length of the anterior-posterior trajectory of the center of pressure during gait was similar in low strength group, but different in high strength group. useability was positive about ExoAtlet wearable exoskeleton gait after training. Conclusions: ExoAtlet wearable exoskeleton robot gait training was positive about improving gait in all participants regardless of differences in severity of symptoms and gait abnormalities.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• Annals of Rehabilitation Medicine
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• 제42권6호
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• pp.788-797
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• 2018

Objective To investigate the effect of upper limb rehabilitation combining robot with low-frequency repetitive transcranial magnetic stimulation (rTMS) on unilateral spatial neglect in stroke patients. Methods Patients who had hemispatial neglect after right hemisphere stroke were randomly divided into rTMS only group, robot only group, and combined group. All groups received conventional neglect therapy and additional treatment for each group. rTMS group received rTMS therapy. Robot group received robot therapy, while combined group received both therapies. The effect of therapy was assessed with Motor-Free Visual Perception Test-3 (MVPT-3), line bisection test, star cancellation test, Catherine Bergego Scale (CBS), Mini-Mental State Examination (MMSE), and the Korean version of Modified Barthel Index (K-MBI). These measurements were evaluated before and after treatment. Results For each group, 10 patients were recruited. There were no significant differences in baseline characteristics or initial values among the three groups. Two weeks after the therapy, all groups showed significant improvement in MVPT-3, line bisection test, star cancellation test, CBS, MMSE, and K-MBI. However, changes in measurements showed no significant differences among groups. Conclusion Treatment effect of the combined therapy of robotic therapy and low-frequency rTMS therapy for hemispatial neglect was not statistically different from that of each single treatment. Results of this study did not prove the superiority of any of the three treatments. Further study with large number of patients is needed to evaluate the superiority of these treatments.

• 센서학회지
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• 제21권3호
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• pp.192-197
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• 2012

This paper describes the control of the hand fixing system attached to the finger rehabilitation robot for the rehabilitation exercise of patient's fingers. The finger rehabilitation robot is used to exercise the finger rehabilitation, and a patient's hand is safely fixed using the hand fixing system. In this paper, the hand fixing system was controlled with PD gains to fix a palm of the hand, and the characteristic test for the hand fixing system was carried out to sense the fixed hand movement of the front and the rear, that of the left and the right, and that of the upper. It is thought that the hand fixing system could safely fix the hand, and the movement of the fixed hand could be perceived using the five-axis force/moment sensor attached to the hand fixing system.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.860-865
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• 2010

This paper deals with gait assisting rehabilitation robot which helps SCI patient walk again. We propose new concept of orthotic for robot considering motions of Hip and Knee Joints, and how to fit the robot to a user in terms of weight balance and comfortable standing. Then we describe our first engineering sample being designed based on the passive orthotic and show how to make the robot work for SCI patient in basic operation.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1011-1016
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• 2013

Patients have the paralysis of their wrists, and can't use of their wrists freely. But their wrists can be recovered by wrist-bending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients' wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients' wrists.