• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.47-57
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• 2016

In this paper, we measured human body signals in order to verify a active harness system that we developed for gait and balance training. The experimental procedure was validated by tests with 20 healthy male subjects. They conducted motions of Activities of Daily Living(ADL)(Normal Walking, Stand-to-Sit, Sit-to-Stand, Stair Walking Up, and Stair Walking Down) according to body weight support rates (0%, 30%, 50% of subjects' body weight). The effectiveness of the active harness system is verified by using the results of foot pressure distribution. In normal walking, the decrease of fore-foot pressure, lateral soleus muscle and biceps femoris muscle were remarkable. The result of stand-to-sit results motion indicated that the rear-foot pressure and tibialis anterior muscle activities exceptionally decreased according to body weight support. The stair walking down show the marked drop of fore-foot pressure and rectus femoris muscle activities. The sit-to-stand and stair walking up activities were inadequate about the effect of body weight support because the velocity of body weight support system was slower than male's activity.

• Journal of Yeungnam Medical Science
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• v.38 no.1
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• pp.39-46
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• 2021

Background: To determine the benefit of pelvic floor muscle exercise (PFME) with visual biofeedback on promoting patient recovery from incontinence, we investigated variables associated with the early restoration of continence for patients who underwent robot-assisted radical prostatectomy (RARP). Methods: Of the 83 patients enrolled, 41 consecutive patients completed PFME (the exercise group), and the other 42 consecutive patients just before the PFME program commenced (the control group). The primary outcome was whether PFME engagement was associated with zero pad continence restoration within 3 months of surgery. Results: Continence restoration percentages (defined as zero pads used per day) at 1, 3, and 6 months after surgery were 49.4%, 77.1%, and 94.0%, respectively. The exercise group achieved significantly higher recovery rates at 1 month (p=0.037), 3 months (p<0.001), and 6 months (p=023). Cox regression analysis demonstrated that a lower Gleason score (<8; hazard ratio [HR], 2.167), lower prostate specific antigen (<20 ng/dL; HR, 2.909), and engagement in PFME (HR, 3.731) were independent predictors of early recovery from postprostatectomy incontinence. Stratification by age showed that those younger than 65 years did not benefit significantly from exercise (log-rank test, p=0.08), but that their elderly counterparts, aged 65-70 years (p=0.007) and >70 years old (p=0.002) benefited significantly. Conclusion: This study suggests that postoperative engagement in PFME with biofeedback speeds up the recovery of continence in elderly patients (≥65 years old) that undergo RARP.

• Journal of Digital Convergence
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• v.19 no.2
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• pp.523-529
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• 2021

Medical service robots are variously defined and classified by researchers and related government departments, but surgical robots and rehabilitation robots are commonly included in medical service robots, and except for these, the robots are classified as other medical service robots. In this study, domestic and foreign development trends and use cases were considered, focusing on logistics, guidance, and drug processing robots among other medical service robots. Logistics and guidance robots were developed quite a lot in Korea and completed a pilot project, or are being commercialized in hospitals, and exported. However, although the drug prcocessing robots was developed in Korea, the robot being use in the hospital was an imported. In order to expand and activate the robot market, systematic follow-up studies such as demand prediction studies are needed.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.187-196
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• 2014

This paper suggests linearity enhancement algorithm to Ensure safety of Mobile Walker on Slope. Mobile Walker happens to get off track due to external forces from Walker's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 10cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.

• Physical Therapy Korea
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• v.27 no.1
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• pp.11-18
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• 2020

Background: As technology has progressed, various robot-assisted devices have been developed to reduce therapists' labor and assist in therapy. However, due to their many limitations, it is more practical to use traditional mechanical devices. The grahamizer is one such traditional mechanical device used clinically to rehabilitate the upper extremities. No study has yet established the efficacy of the grahamizer in individuals with stroke. Objects: This study investigated the immediate change in arm reaching after the use of a grahamizer. Methods: Twenty-two stroke survivors participated in this study (11 males and 11 females). The reaching of the more-affected arm was measured three times using the three-dimentional electromagnetic motion tracking system "trakSTAR". After the first measurement, the subjects performed 500 rotatory arm exercises using the grahamizer. To assess the grahamizer's effect, the subjects were remeasured in the same way. Results: There were significant increases in the reaching distance (p < 0.05) and movement smoothness (p < 0.05) of the more-affected arm after using the grahamizer. Conclusion: Our study confirms that using the grahamizer is beneficial in the rehabilitation for improving movement of the more-affected arm in stroke survivors.

• Journal of the Korea Safety Management & Science
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• v.18 no.4
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• pp.99-105
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• 2016

This study was conducted to develop a dummy in an environment similar to the human body, to prepare a standard for evaluation and to present the process of the production in order to evaluate the performance of the robot that can detect the persons needing rescue in a confined space, who are difficult for fire-fighting officials to rescue in case of fire and disaster. As a result, a standard for evaluation was developed and standardized into four parts 'Normal,' 'Risk Stage 1,' 'Risk Stage 2' and 'Risk Stage 3'based on the number of breath cycles, carbon dioxide concentration, core temperature and criteria for hearing to recognize the voice. In addition, in order to produce a dummy, fever, breathing capacity and voice output function were compared and analyzed. This study has significance that it built up basic data of the method of producing the actual dummy, by presenting characteristics and controlling methods using the waterproof insulation heating coil for the function, solenoid valve for the consecutive output of breathing capacity and USB program sound board for voice output.

• The World Journal of Men's Health
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• v.41 no.3
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• pp.612-622
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• 2023

Purpose To evaluate the efficacy and safety of udenafil 75 mg once daily in patients with erectile dysfunction following bilateral nerve-sparing robot-assisted laparoscopic radical prostatectomy (BNS-RALP). Materials and Methods A multi-center, prospective, randomized, controlled, double-blind study was conducted. Among patients with localized prostate cancer with international index of erectile function-erectile function domain (IIEF-EF) score of 18 or higher before BNS-RALP, those who developed postoperative erectile dysfunction (IIEF-EF score 14 or less at 4 weeks after BNS-RALP) were enrolled. Enrolled patients were randomly assigned to the udenafil 75 mg daily group or the placebo group in a 2:1 ratio. Each subject was followed up at 8 weeks (V2), 20 weeks (V3), and 32 weeks (V4) to evaluate the efficacy and safety of udenafil. Results In all, 101 patients were screened, of whom 99 were enrolled. Of the 99 patients, 67 were assigned to the experimental group and 32 to the control group. Ten (14.93%) patients in the experimental group and 10 (31.25%) in the control group dropped out of the study. After 32 weeks of treatment, IIEF-EF score of 22 or higher was seen in 36.51% (23/63) of patients in the experimental group and 13.04% (3/23) patients in the control group (p=0.021). The proportion of patients with IIEF-EF improvement of 25% or more compared to the baseline was 82.54% (52/63) in the experimental group and 62.96% (17/27) in the control group (p=0.058). Conclusions Udenafil 75 mg once daily after BNS-RALP improved the erectile function without any severe adverse effects.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.9 no.1
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• pp.17-21
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• 2015

There have been sustained developments of advanced technologies using traffic safety facilities recently and techniques for identifying failure modes and devices which could result in fatal outcomes. The purpose of this research is aimed at improving the driving conditions in advance through analyzing the IT convergence, driving education, researches for vehicles, field of construction and robotics. The researchers evaluate on usability tests of the driving with 26 candidates through focusing on safety, convenience, efficiency, effectiveness. Using specialized LED panel to enhance driving performances of disabled people are for cautious road conditions like foggy weather or heavy rain. As a result, there were improvements in the driving conditions, and candidates reported this system was helpful. It allows them for maintaining proper driving all times and was especially informative for people with low vision or visually impaired. This system plays a pivotal role as a prevention mechanism not only for regular drivers but also for further delict of traffic violations or accident offenders who already have former record on tort.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.132-143
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• 2017

While working in an industrial environment which requires extended periods of upright posture; workers tend to develop muscle fatigue due to the constant load on lower-limb muscles. In addition, when working while bending knees; muscle fatigue of lower back and hamstrings is increased due to the abnormal posture. This can lead to damage of muscles, induce musculoskeletal disorders, and reduce long-term working efficiency. Recent medical studies have shown that long-term working in an upright posture can induce musculoskeletal disorders such as foot fatigue, edema, pain and varicose veins. Likewise, medical and rehabilitation expenses have grown due to the increase in musculoskeletal conditions suffered by workers. For this problem, we aim to develop a device that can reduce the physical fatigue on the lower limbs by supporting the weight of workers during the extended periods of upright and bending postures in the industrial environments. In this paper, we have designed and manufactured a wearable weight support system; with a user intention algorithm that the users can maintain various postures. For validation of the developed system, we measured the muscle activity of the users wearing the system with EMG sensors.