• The Journal of Korean Physical Therapy
• /
• v.30 no.4
• /
• pp.123-128
• /
• 2018

Purpose: This study examined the effects of neuromuscular electrical stimulation (NMES) and horseback riding using a robotic device on the trunk muscle activity and gross motor function in children with spastic diplegia. Methods: Children with spastic diplegia were divided into two groups: an experimental group (NMES and horseback riding using a robotic device [n=10]) and a control group (placebo NMES and horseback riding using a robotic device [n=10]). Each group received general physical therapy and occupational therapy. Each intervention involved the administration of NMES for 15 minutes and horseback riding using robotic device therapy for 15 minutes three times a week for 4 weeks. The evaluation included both the rectus abdominis muscles (RA), external oblique muscles (EO), thoracic paraspinal muscles (TP), and lumbar paraspinal muscles (LP) activity and GMFM. Results: The RA, EO, TP, and LP muscle activity, GMFM C, D, and E were increased significantly in the experimental and control groups. A significant increase in both the TP muscle activity and GMFM D was observed in the experimental group compared to the control group. Conclusion: This study showed that horseback riding using a robotic device is an effective intervention for trunk muscle activity and GMFM in children with spastic diplegia. However, if NMES is added to the back muscles, it is possible to further increase the thoracic paraspinal muscle activity and standing ability.

• The Journal of Korea Robotics Society
• /
• v.12 no.4
• /
• pp.411-418
• /
• 2017

During the intramedullary nailing procedure, surgeons feel difficulty in manipulation of the X-ray device to align it to axes of nailing holes and suffer from the large radiation exposure from the X-ray device. These problems are caused by the fact the surgeon cannot see the hole's location directly and should use the X-ray device to find the hole's location and direction. In this paper, we proposed the robotic guidance of the distal screwing using an optical tracking system. To track the location of the hole for the distal screwing, the reference marker is attached to the proximal end of an intramedullary nail. To guide the drill's direction robustly, the 6-degree-of-freedom robotic arm is used. The robotic arm is controlled so as to align the drill guiding tool attached the robotic arm with the obtained the hole's location. For the safety, the robot's linear and angular velocities are restricted to the predefined values. The experimental results using the artificial bones showed that the position error and the orientation error were 0.91 mm and $1.64^{\circ}$, respectively. The proposed method is simple and easy to implement, thus it is expected to be adopted easily while reducing the radiation exposure significantly.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.135-138
• /
• 2005

Robotic devices have been widely used in many medical applications due to their accuracy and programming ability. One of the applications is a virtual reality medical simulator, which trains medical personnel in a computer generated environment. In this paper, we are going to present an application, an epidural anesthesia trainer. Because performing epidural injections is a delicate task, it demands a high level of skill and precision from the physician. This trainer uses a robotic device and computer controlled solenoid valve to recreate interaction forces between the needle and the various layers of tissues around the spinal cord. The robotic device is responsible for generation of interaction forces in real time and can be used to be haptic guidance that allows the user to follow a previous recorded expert procedure and feel the encountered forces.

• The Journal of Korea Robotics Society
• /
• v.17 no.2
• /
• pp.191-197
• /
• 2022

In this research, we developed the muscle-strength-assistant device, named as LEXO-W, and conducted suitability test for army when transporting high weights. LEXO-W relieves the burden when carrying heavy weights by distributing the load concentrated on the arms throughout the body. LEXO-W weighs 4 kg and is designed to handle objects weighing up to 55 kg. To verify the effectiveness of the device, object handling tests (high explosive shell, simple assembly bridges, and ammunition boxes) were conducted. Working time, metabolic rate, and electromyogram (EMG) signals were measured in each test. As a result, it was confirmed that the working time, metabolic rate and EMG signal before and after wearing LEXO-W were decreased. This research has great significance in that it verified the performance of the wearable device from the perspective of military operation.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.6_1
• /
• pp.953-959
• /
• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.216-223
• /
• 2010

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.8
• /
• pp.814-823
• /
• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• Physical Therapy Rehabilitation Science
• /
• v.5 no.3
• /
• pp.125-131
• /
• 2016

Objective: The purpose of this study was to investigate the effects of providing visual feedback and auditory stimulation using a robotic device on balance and gait abilities in stroke patients. Design: Randomized controlled pilot trial. Methods: Fifteen subjects were randomly divided into three groups where five subjects were in the visual feedback robotic device assist gait training (VRGT) group, five subjects in the auditory stimulation robotic device assist gait training (ARGT) group, and five subjects in the control group. Subjects received visual feedback and auditory stimulation while undergoing robotic gait training for 45 minutes, three times a week for 2 weeks, and all subjects had undergone general physical therapy for 30 minutes, five times a week for 2 weeks. All subjects were assessed with the Berg balance scale (BBS), timed up and go (TUG) test, and 10-meter walking test (10MWT) pre- and post-intervention. Results: All subjects showed that BBS, TUG test, and 10MWT scores significantly improved post-intervention (p<0.05), and the control group also had significantly improved post-treatment (p<0.05). The VRGT and the ARGT showed significant improvements in BBS, TUG, and 10MWT scores compared with the control group (p<0.05). The VRGT group showed a significant improvement in BBS, TUG, and 10MWT scores compared with the control group (p<0.05). In addition, it has been confirmed that VRGT had significantly improved in BBS, TUG test, and 10MWT scores compared with the auditory stimulation and control group (p<0.05). Conclusions: The results of this study showed improved balance and gait abilities after VRGT and ARGT groups compared with general physical therapy and was found to be effective in enhancing the functional activity of persons affected with stroke.

• Journal of the Korean Society for Precision Engineering
• /
• v.33 no.7
• /
• pp.565-570
• /
• 2016

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

• Smart Structures and Systems
• /
• v.1 no.4
• /
• pp.325-338
• /
• 2005

Utilizing robotic based reconfigurable nodal structural health monitoring systems has many advantages over static or human positioned sensor systems. However, creating a robot capable of traversing a variety of civil infrastructures is a difficult task, as these structures each have unique features and characteristics posing a variety of challenges to the robot design. This paper outlines the design and implementation of a novel robotic platform for deployment on ferromagnetic structures as an enabling structural health monitoring technology. The key feature of this design is the utilization of an attachment device which is an advancement of the common magnetic base found in the machine tool industry. By mechanizing this switchable magnetic circuit and redesigning it for light weight and compactness, it becomes an extremely efficient and robust means of attachment for use in various robotic and structural health monitoring applications. The ability to engage and disengage the magnet as needed, the very low power required to do so, the variety of applicable geometric configurations, and the ability to hold indefinitely once engaged make this device ideally suited for numerous robotic and distributed sensor network applications. Presented here are examples of the mechanized variable force magnets, as well as a prototype robot which has been successfully deployed on a large construction site. Also presented are other applications and future directions of this technology.