• Physical Therapy Korea
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• v.22 no.2
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• pp.30-40
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• 2015

Robot-assisted rehabilitation therapy has been used to increase physical function in post-stroke patients. The aim of this meta-analysis was to identify whether robot-assisted gait training can improve patients' functional abilities. A comprehensive search was performed of PubMed, Cochrane Central Register of Controlled Trials (CENTRAL), Physiotherapy Evidence Database (PEDro), Academic Search Premier (ASP), ScienceDirect, Korean Studies Information Service System (KISS), Research Information Sharing Service (RISS), Korea National Library, and the Korean Medical Database up to April, 2014. Fifteen eligible studies researched the effects of robot-assisted gait training to a control group. All outcome measures were classified by International Classification of Functioning, Disability, and Health (ICF) domains (body function and structures, activity, and participation) and were pooled for calculating the effect size. The overall effect size of the robot-assisted gait training was .356 [95% confidence interval (CI): .186~.526]. When the effect was compared by the type of electromechanical robot, Gait Trainer (GT) (.471, 95% CI: .320~.621) showed more effective than Lokomat (.169, 95% CI: .063~.275). In addition, acute stroke patients showed more improvement than others. Although robot-assisted gait training may improve function, but there is no scientific evidence about the appropriate treatment time for one session or the appropriate duration of treatment. Additional researchers are needed to include more well-designed trials in order to resolve these uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.501-506
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• 1988

This paper describes an experimental system for automatic robot programming, The SNU-ARPS (Seoul National University Automatic Robot Programming System). The SNU-ARPS generates executable robot programs for pick and place operation and some simple mechanical assembly tasks by menudriven dialog. It is intended to enable the user to concentrate on the overall operation sequence instead of the knowledge regarding the details of robot languages. To convert task specifications into manipulator motions, the SNU-ARPS uses an internal representation of the world. This representation initially consists of geometric database from CAD system and is updated at each operation step to reflect the state changes of the world.

• Proceedings of the Korea Society of Design Studies Conference
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• 1999.10a
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• pp.50-51
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• 1999

웹 디자인 과정에 있어서 기존의 웹사이트들의 컨텐츠 정보뿐만 아니라 인터페이스를 기능적으로 이루고 있는 구조요소들에 관한 데이터 수집의 필요성이 요구된다. 그럼에도 불구하고 홈페이지 디자인에 있어 specification 수립을 위한 참고자료로써 또는 사용성 평가를 위한 자료로써 이런 종류의 데이터 베이스는 방대한 양의 인터넷 정보에 비해 미미한 편이다. (중략)

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.175-181
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• 1993

In this paper, a practical method to generate task strategies applicable to chamferless and high-precision assembly, is proposed. The difficulties in devising reliable assembly strategies result from various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices. In approach to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal trrough iterative task execution. The strategy is realized by adopting a learning algorithm and represented in a binary tree type database. To verify the effectiveness of the proposed algorithm, a series of simulations and experiments are carried out under assimilated real production environments. The results show that the sensory signal-to-robot action mapping can be acquired effectively and, consequently, the chamferless assembly can be performed successfully.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.237-244
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• 2008

Nowadays, research on human-robot interaction has been getting increasing attention. In the research field of human-robot interaction, speech signal processing in particular is the source of much interest. In this paper, we report a speaker localization system with six microphones for a humanoid robot called MAHRU from KIST and propose a time delay of arrival (TDOA)-based feature matrix with its algorithm based on the minimum sum of absolute errors (MSAE) for sound source localization. The TDOA-based feature matrix is defined as a simple database matrix calculated from pairs of microphones installed on a humanoid robot. The proposed method, using the TDOA-based feature matrix and its algorithm based on MSAE, effortlessly localizes a sound source without any requirement for calculating approximate nonlinear equations. To verify the solid performance of our speaker localization system for a humanoid robot, we present various experimental results for the speech sources at all directions within 5 m distance and the height divided into three parts.

• Proceedings of the KSPS conference
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• 2006.05a
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• pp.135-138
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• 2006

The communication method between human and robot is one of the important parts for a human-robot interaction. And speech is easy and intuitive communication method for human-being. By using speech as a communication method for robot, we can use robot as familiar way. In this paper, we developed TTS for human-robot interaction. Synthesis algorithms were modified for an efficient utilization of restricted resource in robot. And synthesis database were reconstructed for an efficiency. As a result, we could reduce the computation time with slight degradation of the speech quality.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.4-50
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• 2002

$\textbullet$ Definition of TeleCare $\textbullet$ Motivations behind Internet TeleCare with Robots $\textbullet$ Framework of Robot Operation Management $\textbullet$ Database Structure $\textbullet$ Chat Room Conference $\textbullet$ Remote Robot Control by Softswitch $\textbullet$ Experimental Results and Conclusion

• Journal of Welding and Joining
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• v.34 no.1
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• pp.54-58
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• 2016

In this research paper, suggest method of generate same bead as an actual measurement data in virtual welding conditions, exploit morphology information of the bead that acquired through robot welding. It has many multiple risk factors to Beginners welding training, by we make possible to train welding in virtual reality, we can reduce welding training risk and welding material to exploit bead visualization algorithm that we suggest so it will be expected to achieve educational, environmental and economical effect. The proposed method is acquire data to each case performing robot welding by set the voltage, current, working angle, process angle, speed and arc length of welding condition value. As Welding condition value is most important thing in decide bead form, we would selected one of baseline each item and then acquired metal followed another factors change. Welding type is FCAW, SMAW and TIG. When welding trainee perform the training, it's difficult to save all of changed information into database likewise working angle, process angle, speed and arc length. So not saving data into database are applying the method to infer the form of bead using a neural network algorithm. The way of bead's visualization is applying the spline algorithm. To accurately represent Morphological information of the bead, requires much of morphological information, so it can occur problem to save into database that is why we using the spline algorithm. By applying the spline algorithm, it can make simplified data and generate accurate bead shape. Through the research paper, the shape of bead generated by the virtual reality was able to improve the accuracy when compared using the form of bead generated by the robot welding to using the morphological information of the bead generated through the robot welding. By express the accurate shape of bead and so can reduce the difference of the actual welding training and virtual welding, it was confirmed that it can be performed safety and high effective virtual welding education.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.49-57
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• 2011

In many industries, the accurate and quick checking of goods in storage is of great importance. Most today's inventory checking is based on bar code scanning, but the relative position between a bar code and an optical scanner should be maintained in close distance and proper angle for the successful scanning. This requirement makes it difficult to fully automate the inventory information/control systems. The use of RFID technology can be a solution for overcoming this problem. The mobile robot presented in this paper is equipped with an RFID tag scanning system, that automates the otherwise manual or semi-automatic inventory checking process. We designed the robot system in a quite practical approach, and the developed system is close to the commercialization stage. In our experiments, the robot could collect information of goods stacked on shelves autonomously without any failure and maintain corresponding database while it navigated predefined paths between the shelves using vision.